Research

K. Chen, R. Nemiroff, and B.T. Lopez, “Direct LiDAR-Inertial Odometry and Mapping: Perceptive and Connective SLAM,” arXiv preprint arXiv:2305.01843, 2023. (Under Review)

R. Nemiroff, K. Chen, and B.T. Lopez, “Joint On-Manifold Gravity and Accelerometer Intrinsics Estimation,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Detroit, MI, USA, Oct 2023.

K. Chen, R. Nemiroff, and B.T. Lopez, “Direct LiDAR-Inertial Odometry: Lightweight LIO with Continuous-Time Motion Correction,” IEEE International Conference on Robotics and Automation (ICRA), London, United Kingdom, 2023, pp. 3983-3989, doi: 10.1109/ICRA48891.2023.10160508.

A. Bouman, J. Ott, S.K. Kim, K. Chen, M. Kochenderfer, B.T. Lopez, A. Agha-mohammadi, and J. Burdick, “Adaptive Coverage Path Planning for Efficient Exploration of Unknown Environments,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, Oct 2022, pp. 11916-11923, doi: 10.1109/IROS47612.2022.9982287.

K. Chen, B.T. Lopez, A. Agha-mohammadi, and A. Mehta, “Direct LiDAR Odometry: Fast Localization with Dense Point Clouds,” IEEE Robotics and Automation Letters (RA-L) vol. 7, no. 2, pp. 2000-2007, April 2022, doi: 10.1109/LRA.2022.3142739. Presented at ICRA 2022, Philadelphia, PA.

K. Chen, A. Pogue, B.T. Lopez, A. Agha-mohammadi, and A. Mehta, “Unsupervised Monocular Depth Learning with Integrated Intrinsics and Spatio-Temporal Constraints,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Prague, Czech Republic, Oct 2021, pp. 2451-2458, doi: 10.1109/IROS51168.2021.9636030.

T.K. Chang, K. Chen, A. Mehta, “Resilient and Consistent Multirobot Cooperative Localization with Covariance Intersection,” IEEE Transactions on Robotics, vol. 38, no. 1, pp. 197-208, Feb. 2022, doi: 10.1109/TRO.2021.3104965.

A. Schperberg*, K. Chen*, S. Tsuei, M. Jewett, J. Hooks, S. Soatto, A. Mehta, and D. Hong, “Risk-Averse MPC via Visual-Inertial Input and Recurrent Networks for Online Collision Avoidance,” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, NV, USA, Oct 2020, pp. 5730-5737, doi: 10.1109/IROS45743.2020.9341070. *Indicates equal contribution

P. Gabriel, K. Chen, A. Alasfour, T. Pailla, W.K. Doyle, O. Devinsky, D. Friedman, P. Dugan, L. Melloni, T. Thesen, D. Gonda, S. Sattar, S. Wang, and V. Gilja, “Neural Correlates of Unstructured Motor Behaviors,” Journal of Neural Engineering, vol. 16, no. 6, pp. 066026, 2019, doi: 10.1088/1741-2552/ab355c.

K. Chen, P. Gabriel, A. Alasfour, C. Gong, W.K. Doyle, O. Devinsky, D. Friedman, L. Melloni, T. Thesen, D. Gonda, S. Sattar, S. Wang, and V. Gilja, “Patient-Specific Pose Estimation in Clinical Environments,” IEEE Journal of Translational Engineering in Health and Medicine, vol. 6, pp. 1-11, 2018.

K.J. Chen, “Fast and Adaptive Geometric Robot Perception,” University of California Los Angeles, 2023.

K.J. Chen, “Continuous Behavior Acquisition in Clinical Environments,” University of California San Diego, 2018.