Related papers: An Open Source, Fiducial Based, Visual-Inertial Mo…
Positional estimation is of great importance in the public safety sector. Emergency responders such as fire fighters, medical rescue teams, and the police will all benefit from a resilient positioning system to deliver safe and effective…
We aim to enable robots to visually localize a target person through the aid of an additional sensing modality -- the target person's 3D inertial measurements. The need for such technology may arise when a robot is to meet person in a crowd…
Fiducial markers are widely used in robotics for navigation, object recognition, and scene understanding. While offering significant advantages for robots and Augmented Reality (AR) applications, they often disrupt the visual aesthetics of…
Recently, the community has witnessed numerous datasets built for developing and testing state estimators. However, for some applications such as aerial transportation or search-and-rescue, the contact force or other disturbance must be…
Visual localization tackles the challenge of estimating the camera pose from images by using correspondence analysis between query images and a map. This task is computation and data intensive which poses challenges on thorough evaluation…
The accurate detection and grasping of transparent objects are challenging but of significance to robots. Here, a visual-tactile fusion framework for transparent object grasping under complex backgrounds and variant light conditions is…
We develop a real-time state estimation system to recover the pose and contact formation of an object relative to its environment. In this paper, we focus on the application of inserting an object picked by a suction cup into a tight space,…
Visual localization is a fundamental task that regresses the 6 Degree Of Freedom (6DoF) poses with image features in order to serve the high precision localization requests in many robotics applications. Degenerate conditions like motion…
Fiducial markers can encode rich information about the environment and can aid Visual SLAM (VSLAM) approaches in reconstructing maps with practical semantic information. Current marker-based VSLAM approaches mainly utilize markers for…
Accurate information about the location and orientation of a camera in mobile devices is central to the utilization of location-based services (LBS). Most of such mobile devices rely on GPS data but this data is subject to inaccuracy due to…
Motion prediction in unstructured environments is a difficult problem and is essential for safe and efficient human-robot space sharing and collaboration. In this work, we focus on manipulation movements in environments such as homes,…
Accurate state estimation for flexible robotic systems poses significant challenges, particularly for platforms with dynamically deforming structures that invalidate rigid-body assumptions. This paper addresses this problem and enables the…
We present a novel approach for motion planning in mobile robotics under sensing and motion uncertainty based on state lattices with graduated fidelity. The probability of collision is reliably estimated considering the robot shape, and the…
Mobile robots that navigate in unknown environments need to be constantly aware of the dynamic objects in their surroundings for mapping, localization, and planning. It is key to reason about moving objects in the current observation and at…
This paper presents a novel multimodal perception system for a real open environment. The proposed system includes an embedded computation platform, cameras, ultrasonic sensors, GPS, and IMU devices. Unlike the traditional frameworks, our…
The collaborative robot market is flourishing as there is a trend towards simplification, modularity, and increased flexibility on the production line. But when humans and robots are collaborating in a shared environment, the safety of…
Image-based fiducial markers are useful in problems such as object tracking in cluttered or textureless environments, camera (and multi-sensor) calibration tasks, and vision-based simultaneous localization and mapping (SLAM). The…
We propose a hardware and software pipeline to fabricate flexible wearable sensors and use them to capture deformations without line of sight. Our first contribution is a low-cost fabrication pipeline to embed multiple aligned conductive…
Localization is a key requirement for mobile robot autonomy and human-robot interaction. Vision-based localization is accurate and flexible, however, it incurs a high computational burden which limits its application on many…
Accurate and robust localization is a fundamental need for mobile agents. Visual-inertial odometry (VIO) algorithms exploit the information from camera and inertial sensors to estimate position and translation. Recent deep learning based…