MSR Speaking Qualifier

Zoom Link: https://cmu.zoom.us/j/2112607862   Title: Bitwise Trajectory Elimination: An Efficient Method for Filtering Trajectory Libraries for Quadrotor Navigation   Abstract: Quadrotor flight in unknown environments is challenging due to the limited range of perception sensors, state estimation drift, and limited onboard computation. In this work, we tackle these challenges by proposing an efficient, reactive planning approach. We introduce [...]

Zoom link: https://cmu.zoom.us/j/94541819048   Title: Visual-Inertial Source Localization for Co-Robot Rendezvous   Abstract: We aim to enable robots to visually localize a target person through the aid of an additional sensing modality -- the target person's 3D inertial measurements. The need for such technology may arise when a robot is to meet a person in [...]

Zoom Link: https://cmu.zoom.us/j/99544484313   Title   DeepBLE - Generalizing RSSI based Localization Across Different Devices   Abstract   Accurate smartphone localization ( < 1-meter error) for indoor navigation using only RSSI received from a set of BLE beacons remains a challenging problem, due to the inherent noise of RSSI measurements. To overcome the large variance in [...]

ZOOM Link: https://cmu.zoom.us/j/93785335144   Title: Combining Semantic and Geometric Understanding for Modern Visual Recognition Tasks Abstract: For autonomous driving perception, visual data, such as camera image and LiDAR point cloud, consists of two aspects: semantic feature and geometric structure. While usually studied separately, these two properties can be combined and jointly used by a unified framework. [...]

Zoom Link: https://cmu.zoom.us/j/96397153508 Title: A Comprehensive Study of Unsupervised Classification Techniques for Hyperspectral Datasets Abstract: Unsupervised learning and in this specific research, clustering regional composition in hyperspectral images, poses significant challenges in the fields of machine learning and remote sensing. Hyperspectral images capture the spectral information in many wavelengths, as opposed to typical images that [...]

Zoom Link: https://cmu.zoom.us/j/98144379626   Title   Learning Precise and Task-oriented Grasps for Robotic Assembly   Abstract   Robust, precise, and task-oriented grasp planning is vital for autonomous robotic assembly. It requires reasoning about the object geometry and preconditions of a task so as to properly grasp an object and complete the down-stream tasks. However, achieving such [...]

Archived Zoom Video Password: 1u%i4YO%   Title: Communications Coverage in Unknown Underground Environments   Abstract:In field robotics, maintaining communications between the user at a stationary basestation and all deployed robots is essential.  This task's difficulty increases when the test environment is underground and the environment is unknown to the operator and robots.  A common approach [...]

Zoom Link: https://cmu.zoom.us/j/96617143856 Title: IBB-Net: Fast Iterative Bounding Box Regression for Point Clouds Abstract: Currently, most point cloud based detection pipelines are focused on producing high accuracy results while requiring significant computational resources and a high-end GPU. Our research explores how to reduce the computational overhead by improving a key element of detection: bounding box regression. We [...]

Zoom Link:  https://cmu.zoom.us/j/3276236755   Title: Fast and High-Quality GPU-based Deliberative Perception for Object Pose Estimation Abstract:  Pose estimation of known objects is fundamental to tasks such as robotic grasping and manipulation. The need for reliable grasping imposes stringent accuracy requirements on pose estimation in cluttered, occluded scenes in dynamic environments. Existing methods either require large sets of [...]

Zoom Link: https://cmu.zoom.us/j/97161117200?pwd=QlpkS0hFOFVLRDlKVlFqby9JbWZTUT09 Title: Towards Robust Multi-Camera Visual Inertial Odometry Abstract: Visual inertial odometry (VIO) has become an increasingly popular method of obtaining a state estimate on board smaller robots like micro aerial vehicles (MAVs). While VIO has demonstrated impressive results in certain environments, there is still work to be done in improving the robustness of [...]