GIRA: Gaussian Mixture Models for Inference and Robot Autonomy
Kshitij Goel,Wennie Tabib,Kshitij Goel,Wennie Tabib
This paper introduces the open-source framework, GIRA, which implements fundamental robotics algorithms for reconstruction, pose estimation, and occupancy modeling using compact generative models. Compactness enables perception in the large by ensuring that the perceptual models can be communicated through low-bandwidth channels during large-scale mobile robot deployments. The generative property ...
