Related papers: Vision-Based Navigation II: Error Analysis for a N…
This paper presents a strategy to guide a mobile ground robot equipped with a camera or depth sensor, in order to autonomously map the visible part of a bounded three-dimensional structure. We describe motion planning algorithms that…
This paper proposes CAMOT, a simple camera angle estimator for multi-object tracking to tackle two problems: 1) occlusion and 2) inaccurate distance estimation in the depth direction. Under the assumption that multiple objects are located…
We present an algorithm (SOFAS) to estimate the optical flow of events generated by a dynamic vision sensor (DVS). Where traditional cameras produce frames at a fixed rate, DVSs produce asynchronous events in response to intensity changes…
Deep learning algorithms have driven expressive progress in many complex tasks. The loss function is a core component of deep learning techniques, guiding the learning process of neural networks. This paper contributes by introducing a…
Motion blur in dynamic scenes is an important yet challenging research topic. Recently, deep learning methods have achieved impressive performance for dynamic scene deblurring. However, the motion information contained in a blurry image has…
This paper reports on a data-driven, interaction-aware motion prediction approach for pedestrians in environments cluttered with static obstacles. When navigating in such workspaces shared with humans, robots need accurate motion…
Time-of-flight (TOF) cameras are based on a new technology that delivers distance maps by the use of a modulated light source. In this paper we first describe a set of experiments that we performed with TOF cameras. We then propose a noise…
Recent advances in neural radiation fields (NeRF) and 3D Gaussian-based SLAM have achieved impressive localization accuracy and high-quality dense mapping in static scenes. However, these methods remain challenged in dynamic environments,…
Occlusions pose a significant challenge to optical flow algorithms that rely on local evidences. We consider an occluded point to be one that is imaged in the first frame but not in the next, a slight overloading of the standard definition…
As the ubiquity of smart mobile devices continues to rise, Optical Camera Communication systems have gained more attention as a solution for efficient and private data streaming. This system utilizes optical cameras to receive data from…
A fundamental prerequisite for safe and efficient navigation of mobile robots is the availability of reliable navigation maps upon which trajectories can be planned. With the increasing industrial interest in mobile robotics, especially in…
It is a significant problem to predict the 2D LiDAR map at next moment for robotics navigation and path-planning. To tackle this problem, we resort to the motion flow between adjacent maps, as motion flow is a powerful tool to process and…
Generating videos guided by camera trajectories poses significant challenges in achieving consistency and generalizability, particularly when both camera and object motions are present. Existing approaches often attempt to learn these…
A large number of cameras embedded on smart-phones, drones or inside cars have a direct access to external motion sensing from gyroscopes and accelerometers. On these power-limited devices, video compression must be of low-complexity. For…
This article presents an analysis of current state-of-the-art sensors and how these sensors work with several mapping algorithms for UAV (Unmanned Aerial Vehicle) applications, focusing on low-altitude and high-speed scenarios. A new…
This paper describes how advanced deep learning based computer vision algorithms are applied to enable real-time on-board sensor processing for small UAVs. Four use cases are considered: target detection, classification and localization,…
This paper explores visual motion-based invariants, resulting in a new instantaneous domain where: a) the stationary environment is perceived as unchanged, even as the 2D images undergo continuous changes due to camera motion, b) obstacles…
Indirect Time-of-Flight (iToF) cameras are a widespread type of 3D sensor, which perform multiple captures to obtain depth values of the captured scene. While recent approaches to correct iToF depths achieve high performance when removing…
Most automated driving systems comprise a diverse sensor set, including several cameras, Radars, and LiDARs, ensuring a complete 360\deg coverage in near and far regions. Unlike Radar and LiDAR, which measure directly in 3D, cameras capture…
We tackle the problem of localizing an autonomous sea-surface vehicle in river estuarine areas using monocular camera and angular velocity input from an inertial sensor. Our method is challenged by two prominent drawbacks associated with…