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.

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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}
}