Courtney Mario — accepted AI-conference papers

2024

VERF: Runtime Monitoring of Pose Estimation With Neural Radiance Fields

Dominic Maggio, Courtney Mario, Luca Carlone

RA-L 2024

We present VERF, a collection of two methods (VERF-PnP and VERF-Light) for providing runtime assurance on the correctness of a camera pose estimate of a monocular camera without relying on direct depth measurements. We leverage the ability of NeRF (Neural Radiance Fields) to render novel RGB perspec

Cited by 4 Source ↗Scholar ↗

2023

Loc-NeRF: Monte Carlo Localization using Neural Radiance Fields

Dominic Maggio, Marcus Abate, Jingnan Shi, Courtney Mario, Luca Carlone

ICRA 2023poster

We present Loc-NeRF, a real-time vision-based robot localization approach that combines Monte Carlo localization and Neural Radiance Fields (NeRF). Our system uses a pre-trained NeRF model as the map of an environment and can localize itself in real-time using an RGB camera as the only exteroceptive…

Cited by 114 Source ↗code ↗Scholar ↗