GIRA: Gaussian Mixture Models for Inference and Robot Autonomy

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GIRA3D is an open-source framework for compact, high-resolution point cloud modeling using Gaussian mixture models that provides fundamental robotics capabilities, including reconstruction, pose estimation, and occupancy modeling.

If you use the components of GIRA3D, please consider citing us:

@article{goel2023gira,
  title={GIRA: Gaussian Mixture Models for Inference and Robot Autonomy},
  author={Goel, Kshitij and Tabib, Wennie},
  journal={arXiv preprint arXiv:2307.00071},
  year={2023}
}

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Reconstruction

The reconstruction repository is available here: gira3d-reconstruction.

Please cite the following works if you use gira3d-reconstruction:

@ARTICLE{goel_proabilistic_2023,
  title = {Probabilistic {{Point Cloud Modeling}} via {{Self-Organizing Gaussian Mixture Models}}},
  author = {Goel, Kshitij and Michael, Nathan and Tabib, Wennie},
  year = {2023},
  month = may,
  journal={IEEE Robotics and Automation Letters},
  volume = {8},
  number = {5},
  pages = {2526--2533},
  issn = {2377-3766},
  doi = {10.1109/LRA.2023.3256923},
  keywords = {Adaptation models,Complexity theory,Computational modeling,Data models,field robots,Mapping,Point cloud compression,Probabilistic logic,RGB-D perception,Three-dimensional displays}
}

Registration

The registration repository is available here: gira3d-registration.

Please cite the following works if you use gira3d-registration:

@article{tabib2018manifold,
  title={On-manifold gmm registration},
  author={Tabib, Wennie and O’Meadhra, Cormac and Michael, Nathan},
  journal={IEEE Robotics and Automation Letters},
  volume={3},
  number={4},
  pages={3805--3812},
  year={2018},
  doi={https://doi.org/10.1109/LRA.2018.2856279},
  publisher={IEEE}
}

@InProceedings{tabib2019fsr,
  author="Tabib, Wennie
  and Michael, Nathan",
  editor="Ishigami, Genya
  and Yoshida, Kazuya",
  title="Simultaneous Localization and Mapping of Subterranean Voids with Gaussian Mixture Models",
  booktitle="Field and Service Robotics",
  year="2021",
  publisher="Springer Singapore",
  address="Singapore",
  pages="173--187",
  isbn="978-981-15-9460-1"
}

Occupancy Modeling

The occupancy modeling repository is available here: gira3d-occupancy-modeling.

Please cite the following works if you use gira3d-occupancy-modeling:

@ARTICLE{omeadhra2019ral,
  author={O’Meadhra, Cormac and Tabib, Wennie and Michael, Nathan},
  journal={IEEE Robotics and Automation Letters},
  title={Variable Resolution Occupancy Mapping Using Gaussian Mixture Models},
  year={2019},
  volume={4},
  number={2},
  pages={2015-2022},
  doi={10.1109/LRA.2018.2889348}
}