Bartolomeo Della Corte — accepted AI-conference papers

2020

Plug-and-Play SLAM: A Unified SLAM Architecture for Modularity and Ease of Use

Mirco Colosi, Irvin Aloise, Tiziano Guadagnino, Dominik Schlegel, Bartolomeo Della Corte, Kai O. Arras +1

IROS 2020poster

Simultaneous Localization and Mapping (SLAM) is considered a mature research field with numerous applications and publicly available open-source systems. Despite this maturity, existing SLAM systems often rely on ad-hoc implementations or are tailored to predefined sensor setups. In this work, we ta…

Cited by 18 Source ↗Scholar ↗

2019

Low-cost Sonar Navigation System

Tiziano Guadagnino, Bartolomeo Della Corte, Giorgio Grisetti

IROS 2019poster

In this paper, we present a sonar-based navigation system, designed to deploy a fleet of autonomous mobile platforms at a reasonable cost. In educational and hobbyist contexts, a large number of robots is required. By means of classical navigation approaches, every robot should be provided with accu…

Cited by 1 Source ↗Scholar ↗

2019

Systematic Handling of Heterogeneous Geometric Primitives in Graph-SLAM Optimization

Irvin Aloise, Bartolomeo Della Corte, Federico Nardi, Giorgio Grisetti

RSS 2019poster

In this paper, we propose a pose-landmark graph optimization back-end that supports maps consisting of points, lines or planes. Our back-end allows representing both homogeneous (point-point, line-line, plane-plane) and heterogeneous measurements (point-on-line, point-on-plane, line-on-plane). Rathe…

Cited by 11 Source ↗PDF ↗Scholar ↗

2019

Systematic Handling of Heterogeneous Geometric Primitives in Graph-SLAM Optimization

Irvin Aloise, Bartolomeo Della Corte, Federico Nardi, Giorgio Grisetti

RA-L 2019

In this letter, we propose a pose-landmark graph optimization back-end that supports maps consisting of points, lines, or planes. Our back-end allows representing both homogeneous (point-point, line-line, plane-plane) and heterogeneous measurements (point-on-line, point-on-plane, line-on-plane). Rat

Cited by 8 Source ↗Scholar ↗

2019

Unified Motion-Based Calibration of Mobile Multi-Sensor Platforms With Time Delay Estimation

Bartolomeo Della Corte, Henrik Andreasson, Todor Stoyanov, Giorgio Grisetti

RA-L 2019

The ability to maintain and continuously update geometric calibration parameters of a mobile platform is a key functionality for every robotic system. These parameters include the intrinsic kinematic parameters of the platform, the extrinsic parameters of the sensors mounted on it, and their time de

Cited by 32 Source ↗Scholar ↗

2019

Unified Representation and Registration of Heterogeneous Sets of Geometric Primitives

Federico Nardi, Bartolomeo Della Corte, Giorgio Grisetti

RA-L 2019

Registering models is an essential building block of many robotic applications. In case of three-dimensional data, the models to be aligned usually consist of point clouds. In this letter, we propose a formalism to represent in a uniform manner scenes consisting of high-level geometric primitives, i

Cited by 11 Source ↗Scholar ↗

2018

A General Framework for Flexible Multi-Cue Photometric Point Cloud Registration

Bartolomeo Della Corte, Igor Bogoslavskyi, Cyrill Stachniss, Giorgio Grisetti

ICRA 2018poster

The ability to build maps is a key functionality for the majority of mobile robots. A central ingredient to most mapping systems is the registration or alignment of the recorded sensor data. In this paper, we present a general methodology for photometric registration that can deal with multiple diff…

Cited by 35 Source ↗Scholar ↗

2017

3-D Map Merging on Pose Graphs

Taigo Maria Bonanni, Bartolomeo Della Corte, Giorgio Grisetti

RA-L 2017

In this letter, we propose an approach for merging three-dimensional maps represented as pose graphs of point clouds. Our method can effectively deal with typical distortions affecting simultaneous localization and mapping-generated maps. Traditional map merging techniques that use a single rigid bo

Cited by 47 Source ↗Scholar ↗

2016

Unsupervised calibration of wheeled mobile platforms

Maurilio Di Cicco, Bartolomeo Della Corte, Giorgio Grisetti

ICRA 2016

This paper describes an unsupervised approach to retrieve the kinematic parameters of a wheeled mobile robot. The robot chooses which action to take in order to minimize the uncertainty in the parameter estimate and to fully explore the parameter space.

Cited by 8 Source ↗Scholar ↗