Benjamin Charrow — accepted AI-conference papers

2015

Information-Theoretic Planning with Trajectory Optimization for Dense 3D Mapping

Benjamin Charrow, Gregory Kahn, Sachin Patil, Sikang Liu, Ken Goldberg, Pieter Abbeel +2

RSS 2015poster

We propose an information-theoretic planning approach that enables mobile robots to autonomously construct dense 3D maps in a computationally efficient manner. Inspired by prior work, we accomplish this task by formulating an information-theoretic objective function based on Cauchy-Schwarz quadratic…

Cited by 232 Source ↗PDF ↗Scholar ↗

2015

Information-theoretic mapping using Cauchy-Schwarz Quadratic Mutual Information

Benjamin Charrow, Sikang Liu, Vijay Kumar, Nathan Michael

ICRA 2015poster

We develop a computationally efficient control policy for active perception that incorporates explicit models of sensing and mobility to build 3D maps with ground and aerial robots. Like previous work, our policy maximizes an information-theoretic objective function between the discrete occupancy be…

Cited by 211 Source ↗Scholar ↗