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Yun Chang
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Kimera: an open-source library for real-time metric-semantic localization and mapping
A Rosinol, M Abate, Y Chang, L Carlone
2020 IEEE International Conference on Robotics and Automation (ICRA), 1689-1696, 2020
5082020
DOOR-SLAM: Distributed, online, and outlier resilient SLAM for robotic teams
PY Lajoie, B Ramtoula, Y Chang, L Carlone, G Beltrame
IEEE Robotics and Automation Letters 5 (2), 1656-1663, 2020
2042020
Kimera: From SLAM to spatial perception with 3D dynamic scene graphs
A Rosinol, A Violette, M Abate, N Hughes, Y Chang, J Shi, A Gupta, ...
The International Journal of Robotics Research 40 (12-14), 1510-1546, 2021
1782021
LAMP: Large-scale autonomous mapping and positioning for exploration of perceptually-degraded subterranean environments
K Ebadi, Y Chang, M Palieri, A Stephens, A Hatteland, E Heiden, ...
2020 IEEE International Conference on Robotics and Automation (ICRA), 80-86, 2020
1672020
Nebula: Quest for robotic autonomy in challenging environments; team costar at the darpa subterranean challenge
A Agha, K Otsu, B Morrell, DD Fan, R Thakker, A Santamaria-Navarro, ...
arXiv preprint arXiv:2103.11470, 2021
1592021
Kimera-multi: Robust, distributed, dense metric-semantic slam for multi-robot systems
Y Tian, Y Chang, FH Arias, C Nieto-Granda, JP How, L Carlone
IEEE Transactions on Robotics 38 (4), 2022
1322022
Hydra: A real-time spatial perception system for 3D scene graph construction and optimization
N Hughes, Y Chang, L Carlone
arXiv preprint arXiv:2201.13360, 2022
1242022
LAMP 2.0: A robust multi-robot SLAM system for operation in challenging large-scale underground environments
Y Chang, K Ebadi, CE Denniston, MF Ginting, A Rosinol, A Reinke, ...
IEEE Robotics and Automation Letters 7 (4), 9175-9182, 2022
682022
Kimera-multi: a system for distributed multi-robot metric-semantic simultaneous localization and mapping
Y Chang, Y Tian, JP How, L Carlone
2021 IEEE International Conference on Robotics and Automation (ICRA), 11210 …, 2021
682021
Locus 2.0: Robust and computationally efficient lidar odometry for real-time 3d mapping
A Reinke, M Palieri, B Morrell, Y Chang, K Ebadi, L Carlone, ...
IEEE Robotics and Automation Letters 7 (4), 9043-9050, 2022
572022
Present and future of slam in extreme underground environments
K Ebadi, L Bernreiter, H Biggie, G Catt, Y Chang, A Chatterjee, ...
arXiv preprint arXiv:2208.01787, 2022
522022
Present and future of slam in extreme environments: The darpa subt challenge
K Ebadi, L Bernreiter, H Biggie, G Catt, Y Chang, A Chatterjee, ...
IEEE Transactions on Robotics, 2023
212023
Loop closure prioritization for efficient and scalable multi-robot SLAM
CE Denniston, Y Chang, A Reinke, K Ebadi, GS Sukhatme, L Carlone, ...
IEEE robotics and automation letters 7 (4), 9651-9658, 2022
192022
Foundations of spatial perception for robotics: Hierarchical representations and real-time systems
N Hughes, Y Chang, S Hu, R Talak, R Abdulhai, J Strader, L Carlone
The International Journal of Robotics Research, 02783649241229725, 2024
172024
Resilient and distributed multi-robot visual slam: Datasets, experiments, and lessons learned
Y Tian, Y Chang, L Quang, A Schang, C Nieto-Granda, JP How, ...
2023 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2023
132023
Kimera: An open-source library for real-time metric-semantic localization and mapping. arXiv 2019
A Rosinol, M Abate, Y Chang, L Carlone
arXiv preprint arXiv:1910.02490, 0
6
Hydra-multi: Collaborative online construction of 3d scene graphs with multi-robot teams
Y Chang, N Hughes, A Ray, L Carlone
2023 IEEE/RSJ International Conference on Intelligent Robots and Systems …, 2023
52023
D-lite: Navigation-oriented compression of 3d scene graphs under communication constraints
Y Chang, L Ballotta, L Carlone
arXiv preprint arXiv:2209.06111, 2022
52022
Khronos: A Unified Approach for Spatio-Temporal Metric-Semantic SLAM in Dynamic Environments
L Schmid, M Abate, Y Chang, L Carlone
arXiv preprint arXiv:2402.13817, 2024
22024
D-Lite: navigation-oriented compression of 3D scene graphs for multi-robot collaboration
Y Chang, L Ballotta, L Carlone
IEEE Robotics and Automation Letters, 2023
12023
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