Related papers: Qualitative Relational Mapping and Navigation for …
Understanding terrain topology at long-range is crucial for the success of off-road robotic missions, especially when navigating at high-speeds. LiDAR sensors, which are currently heavily relied upon for geometric mapping, provide sparse…
Onboard terrain sensing and mapping for safe planetary landings often suffer from missed hazardous features, e.g., small rocks, due to the large observational range and the limited resolution of the obtained terrain data. To this end, this…
In the classical context of robotic mapping and localization, map matching is typically defined as the task of finding a rigid transformation (i.e., 3DOF rotation/translation on the 2D moving plane) that aligns the query and reference maps…
We propose a novel visual localization and navigation framework for real-world environments directly integrating observed visual information into the bird-eye-view map. While the renderable neural radiance map (RNR-Map) shows considerable…
Highly automated driving functions currently often rely on a-priori knowledge from maps for planning and prediction in complex scenarios like cities. This makes map-relative localization an essential skill. In this paper, we address the…
We address the problem of vehicle self-localization from multi-modal sensor information and a reference map. The map is generated off-line by extracting landmarks from the vehicle's field of view, while the measurements are collected…
Robots often use feature-based image tracking to identify their position in their surrounding environment; however, feature-based image tracking is prone to errors in low-textured and poorly lit environments. Specifically, we investigate a…
Robots require a semantic understanding of their surroundings to operate in an efficient and explainable way in human environments. In the literature, there has been an extensive focus on object labeling and exhaustive scene graph…
Target localization is a critical task for mobile sensors and has many applications. However, generating informative trajectories for these sensors is a challenging research problem. A common method uses information maps that estimate the…
This paper studies the measurement scheduling problem for a group of N mobile robots moving on a flat surface that are preforming cooperative localization (CL). We consider a scenario in which due to the limited on-board resources such as…
The field of autonomous navigation for unmanned ground vehicles (UGVs) is in continuous growth and increasing levels of autonomy have been reached in the last few years. However, the task becomes more challenging when the focus is on the…
Multi-robot autonomous exploration in an unknown environment is an important application in robotics.Traditional exploration methods only use information around frontier points or viewpoints, ignoring spatial information of unknown areas.…
In this paper, we propose a resource-efficient approach to provide an autonomous UAV with an on-board perception method to detect safe, hazard-free landing sites during flights over complex 3D terrain. We aggregate 3D measurements acquired…
Mapping is one of the crucial tasks enabling autonomous navigation of a mobile robot. Conventional mapping methods output a dense geometric map representation, e.g. an occupancy grid, which is not trivial to keep consistent for prolonged…
In this paper, we propose a novel space-time geometric representation of human landmark configurations and derive tools for comparison and classification. We model the temporal evolution of landmarks as parametrized trajectories on the…
Rover localization is one of the perquisites for large scale rover exploration. In NASA's Mars 2020 mission, the Ingenuity helicopter is carried together with the rover, which is capable of obtaining high-resolution imagery of Mars terrain,…
We discuss the process of building semantic maps, how to interactively label entities in them, and how to use them to enable context-aware navigation behaviors in human environments. We utilize planar surfaces, such as walls and tables, and…
The exploration of large-scale unknown environments can benefit from the deployment of multiple robots for collaborative mapping. Each robot explores a section of the environment and communicates onboard pose estimates and maps to a central…
Realizing relative localization by leveraging inter-robot local measurements is a challenging problem, especially in the presence of measurement noise. Motivated by this challenge, in this paper we propose a novel and systematic 3-D…
In this paper, we address the problem of landmark-based visual place recognition. In the state-of-the-art method, accurate object proposal algorithms are first leveraged for generating a set of local regions containing particular landmarks…