Chinmay Burgul — accepted AI-conference papers

2026

Mapping Pamir: Multi-Session Visual/Inertial SLAM and 3D Reconstruction of an Underwater Shipwreck

Michalis Chatzispyrou, Luke Horgan, Hyunkil Hwang, Harish Sathishchandra, Chinmay Burgul, Monika Roznere +3

ICRA 2026poster

This paper presents a framework for multi-session mapping of underwater environments utilizing an affordable action camera. The Visual-Inertial data are augmented by water depth recordings from a dive computer. SVIn2, an open-source VI-SLAM framework is utilized to generate a trajectory and a sparse…

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2026

Underwater Dense Mapping with the First Compact 3D Sonar

Chinmay Burgul, Yewei Huang, Michalis Chatzispyrou, Ioannis Rekleitis, Alberto Quattrini Li, Marios Xanthidis

ICRA 2026poster

In the past decade, the adoption of compact 3D range sensors, such as LiDARs, has driven the developments of robust state-estimation pipelines, making them a standard sensor for aerial, ground, and space autonomy. Unfortunately, poor propagation of electromagnetic waves underwater, has limited the v…

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2024

Online Determination of Legged Kinematics

Chinmay Burgul, Woosik Lee, Patrick Geneva, Guoquan Huang

IROS 2024poster

Legged robots are emerging, and legged locomotion is in critical need, which requires precise leg-body kinematics to execute control commands or plan motion trajectories. This paper proposes online state estimation to determine legged kinematics of robots with an arbitrary number of legs, which incl…

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