News
2023
July 18, 2023
Check out the highlight article that UCLA Samueli Newsroom has published on our work here!
June 21, 2023
Our work, “Joint On-Manifold Gravity and Accelerometer Intrinsics Estimation,” has been accepted to the 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), to be held in Detroit, MI this year!
June 9, 2023
We’ve open-sourced our Direct LiDAR-Inertial Odometry (DLIO) algorithm!
May 15, 2023
I defended my dissertation!
May 03, 2023
Check out a preprint of our new work, “Direct LiDAR-Inertial Odometry and Mapping: Perceptive and Connective SLAM,” here! This manuscript offers valuable insights into modern LiDAR SLAM systems, addressing common algorithmic failure points where current state-of-the-art algorithms struggle to achieve long-term operational reliability in the unstructured real world.
March 7, 2023
A preprint of our latest work, “Joint On-Manifold Gravity and Accelerometer Intrinsics Estimation,” which presents a new velocity-agnostic measurement model for jointly estimating gravity and intrinsics, is now available on arXiv! A short video of it is also on YouTube.
January 16, 2023
Our work, “Direct LiDAR-Inertial Odometry: Lightweight LIO with Continuous-Time Motion Correction,” has been accepted to the IEEE International Conference on Robotics and Automation (ICRA) to be held in May 2023! London here we come :^)
2022
September 18, 2022
A preprint on our novel coarse-to-fine method for fast and parallelizable continuous-time motion correction, titled “Direct LiDAR-Inertial Odometry: Lightweight LIO with Continuous-Time Motion Correction,” is now available on arXiv. A short video of it is also available on YouTube.
June 29, 2022
Our manuscript, “Adaptive Coverage Path Planning for Efficient Exploration of Unknown Environments,” has been accepted to the 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)!
May 8, 2022
We’ll be showcasing our recent work, “Direct LiDAR-Inertial Odometry with Pose Graph Optimization,” at the Robotic Perception and Mapping: Emerging Techniques workshop at ICRA 2022 in Philadelpha, PA.
January 31, 2022
“Direct LiDAR Odometry: Fast Localization with Dense Point Clouds” has also been selected for presentation at the 2022 IEEE International Conference on Robotics and Automation (ICRA).
2021
December 23, 2021
Our manuscript, “Direct LiDAR Odometry: Fast Localization with Dense Point Clouds,” has been accepted to IEEE Robotics and Automation Letters (RA-L)! This work was part of NASA JPL Team CoSTAR’s research and development efforts for the DARPA Subterranean Challenge, in which DLO was the primary state estimation component for our fleet of autonomous aerial vehicles.
November 30, 2021
We’ve open-sourced our Direct LiDAR Odometry (DLO) algorithm!
October 1, 2021
A preprint of our latest work, titled “Direct LiDAR Odometry: Fast Localization with Dense Point Clouds,” is now available on arXiv.
June 30, 2021
Our work, titled “Unsupervised Monocular Depth Learning with Integrated Intrinsics and Spatio-Temporal Constraints,” has been accepted to the 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)!
February 2, 2021
Our work on multi-robot localization, titled “Resilient and Consistent Multirobot Cooperative Localization with Covariance Intersection,” has been accepted to the IEEE Transactions on Robotics (T-RO)!
2020
November 3, 2020
A preprint of our latest work, titled “Unsupervised Monocular Depth Learning with Integrated Intrinsics and Spatio-Temporal Constraints,” is now available on arXiv.
June 30, 2020
Our collaborative paper with RoMeLa and UCLA Vision Lab, titled “Risk-Averse MPC via Visual-Inertial Input and Recurrent Networks for Online Collision Avoidance,” has been accepted to the 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)!
March 31, 2020
We’ve been selected as finalists for the Qualcomm Innovation Fellowship!