T.W. McLain — accepted AI-conference papers

2026

Terra: Hierarchical Terrain-Aware 3D Scene Graph for Task-Agnostic Outdoor Mapping

Chad Samuelson, Abigail Austin, Seth Knoop, Blake Romrell, Gabriel Slade, T.W. McLain +1

ICRA 2026poster

Outdoor intelligent autonomous robotic operation relies on a sufficiently expressive map of the environment. Classical geometric mapping methods retain essential structural environment information, but lack a semantic understanding and organization to allow high-level robotic reasoning. 3D scene gra…

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2026

Weighted Group-K Consistent Set Maximization for Outlier Rejection of Azimuth-Elevation Measurements

Kalliyan Velasco, T.W. McLain, Joshua Mangelson

ICRA 2026poster

Reliable localization in robotics requires robust handling of sensor outliers, particularly in environments where acoustic or bearing measurements are noisy. We propose a replicator-dynamics-based approach for weighted group- k consistent set maximization (rGkCM) to identify the densest subsets of m…

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