Related papers: Global Localization Based on 3D Planar Surface Seg…
Robots in the construction industry can reduce costs through constant monitoring of the work progress, using high precision data capturing. Accurate data capturing requires precise localization of the mobile robot within the environment. In…
This paper studies the problem of detection and tracking of general objects with long-term dynamics, observed by a mobile robot moving in a large environment. A key problem is that due to the environment scale, it can only observe a subset…
Globally localizing a mobile robot in a known map is often a foundation for enabling robots to navigate and operate autonomously. In indoor environments, traditional Monte Carlo localization based on occupancy grid maps is considered the…
Accurate metrical localization is one of the central challenges in mobile robotics. Many existing methods aim at localizing after building a map with the robot. In this paper, we present a novel approach that instead uses geotagged…
Global localization is an important and widely studied problem for many robotic applications. Place recognition approaches can be exploited to solve this task, e.g., in the autonomous driving field. While most vision-based approaches match…
Knowledge about the own pose is key for all mobile robot applications. Thus pose estimation is part of the core functionalities of mobile robots. Over the last two decades, LiDAR scanners have become the standard sensor for robot…
In recent years, the mobile robot has been the concern of numerous researcher since they are widely applied in various fields of daily life. This paper applies a virtual robot operating system (ROS) platform to develop a localization system…
In many applications, maintaining a consistent map of the environment is key to enabling robotic platforms to perform higher-level decision making. Detection of already visited locations is one of the primary ways in which map consistency…
Re-localizing a camera from a single image in a previously mapped area is vital for many computer vision applications in robotics and augmented/virtual reality. In this work, we address the problem of estimating the 6 DoF camera pose…
How does a person work out their location using a floorplan? It is probably safe to say that we do not explicitly measure depths to every visible surface and try to match them against different pose estimates in the floorplan. And yet, this…
Humans have the remarkable ability to use held objects as tools to interact with their environment. For this to occur, humans internally estimate how hand movements affect the object's movement. We wish to endow robots with this capability.…
Accurate localization represents a fundamental challenge in robotic navigation. Traditional methodologies, such as Lidar or QR-code based systems, suffer from inherent scalability and adaptability con straints, particularly in complex…
We present an approach for estimating a mobile robot's pose w.r.t. the allocentric coordinates of a network of static cameras using multi-view RGB images. The images are processed online, locally on smart edge sensors by deep neural…
Accurate localization is an essential technology for the flexible navigation of robots in large-scale environments. Both SLAM-based and map-based localization will increase the computing load due to the increase in map size, which will…
Visual localization for planar moving robot is important to various indoor service robotic applications. To handle the textureless areas and frequent human activities in indoor environments, a novel robust visual localization algorithm…
Mobile robots rely on maps to navigate through an environment. In the absence of any map, the robots must build the map online from partial observations as they move in the environment. Traditional methods build a map using only direct…
Accurate pose estimation is a fundamental ability that all mobile robots must posses in order to traverse robustly in a given environment. Much like a human, this ability is dependent on the robot's understanding of a given scene. For…
Indoor localization is one of the crucial enablers for deployment of service robots. Although several successful techniques for indoor localization have been proposed, the majority of them relies on maps generated from data gathered with…
Currently, GPS is by far the most popular global localization method. However, it is not always reliable or accurate in all environments. SLAM methods enable local state estimation but provide no means of registering the local map to a…
Accurate and robust global localization is essential to robotics applications. We propose a novel global localization method that employs the map traversability as a hidden observation. The resulting map-corrected odometry localization is…