ORI Blog

/ORI Blog

Geometric Multi-Model Extraction For Robotics

The extraction of geometric models has long been of interest to the robotics community. Many interesting applications such as homography,plane estimation and ego-motion estimation demand the ability to fit geometric models onto noisy data. Additionally, these geometric models are often drivers of other algorithms for algorithms  navigation, perception and 3D reconstructions creating an increased desire for [...]

Geometric Multi-Model Extraction For Robotics 2018-07-10T14:37:20+00:00

Estimation, Search, and Path Planning

ORI is expanding! I'm starting a new research group focused on estimation, search, and path planning. It's a continuation of my previous work developing and deploying theoretically well-founded robotic algorithms here and at the University of Toronto. As is the ORI way, we will be testing the work on a variety of real-world robotic applications. [...]

Estimation, Search, and Path Planning 2018-03-02T14:16:46+00:00

Where did my robot go? Being robust and cautious during Laser-based Localization

Let’s imagine a scenario where a robot, either walking on two or four legs or moving on wheels, is required to explore a cluttered environment containing corridors, constrictions, uneven terrains or staircases. The robot would process proprioceptive inertial and leg/wheel odometry measurements, as well as exteroceptive observations from a 3D laser scanner. The odometry estimate [...]

Where did my robot go? Being robust and cautious during Laser-based Localization 2018-02-15T08:00:01+00:00

Scaling up Neural Networks for Processing 3D Point Clouds

This blog post provides an overview of our paper "Vote3Deep: Fast Object Detection in 3D Point Clouds Using Efficient Convolutional Neural Networks" by Martin Engelcke, Dushyant Rao, Dominic Zeng Wang, Chi Hay Tong, and Ingmar Posner which was published at the IEEE International Conference on Robotics and Automation (ICRA) 2017. For a quick overview you [...]

Scaling up Neural Networks for Processing 3D Point Clouds 2018-01-23T09:00:49+00:00