Yuewei Fu
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View article: Towards Modular and Accessible AUV Systems
Towards Modular and Accessible AUV Systems Open
This paper reports the development of a new open-access modular framework, called Marine Vehicle Packages (MVP), for Autonomous Underwater Vehicles. The framework consists of both software and hardware designs allowing easy construction of…
View article: ConvBKI: Real-Time Probabilistic Semantic Mapping Network with Quantifiable Uncertainty
ConvBKI: Real-Time Probabilistic Semantic Mapping Network with Quantifiable Uncertainty Open
In this paper, we develop a modular neural network for real-time {\color{black}(> 10 Hz)} semantic mapping in uncertain environments, which explicitly updates per-voxel probabilistic distributions within a neural network layer. Our approac…
View article: Convolutional Bayesian Kernel Inference for 3D Semantic Mapping
Convolutional Bayesian Kernel Inference for 3D Semantic Mapping Open
Robotic perception is currently at a cross-roads between modern methods, which operate in an efficient latent space, and classical methods, which are mathematically founded and provide interpretable, trustworthy results. In this paper, we …
View article: MotionSC: Data Set and Network for Real-Time Semantic Mapping in Dynamic Environments
MotionSC: Data Set and Network for Real-Time Semantic Mapping in Dynamic Environments Open
This work addresses a gap in semantic scene completion (SSC) data by creating a novel outdoor data set with accurate and complete dynamic scenes. Our data set is formed from randomly sampled views of the world at each time step, which supe…