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This article presents a novel framework for performing visual inspection around 3D infrastructures, by establishing a team of fully autonomous Micro Aerial Vehicles (MAVs) with robust localization, planning and perception capabilities. The…
The 3D depth estimation and relative pose estimation problem within a decentralized architecture is a challenging problem that arises in missions that require coordination among multiple vision-controlled robots. The depth estimation…
With the development of robotics, ground robots are no longer limited to planar motion. Passive height variation due to complex terrain and active height control provided by special structures on robots require a more general navigation…
To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…
We address the problem of autonomous exploration and mapping for a mobile robot using visual inputs. Exploration and mapping is a well-known and key problem in robotics, the goal of which is to enable a robot to explore a new environment…
Drones equipped with cameras are emerging as a powerful tool for large-scale aerial 3D scanning, but existing automatic flight planners do not exploit all available information about the scene, and can therefore produce inaccurate and…
We propose a framework that allows a mobile robot to build a map of an indoor scenario, identifying and highlighting objects that may be considered a hindrance to people with limited mobility. The map is built by combining recent…
Visual inspection is a crucial yet time-consuming task across various industries. Numerous established methods employ machine learning in inspection tasks, necessitating specific training data that includes predefined inspection poses and…
This work presents a motion planning framework for robotic manipulators that computes collision-free paths directly in image space. The generated paths can then be tracked using vision-based control, eliminating the need for an explicit…
The purpose of this paper is to explore a new way of autonomous mapping. Current systems using perception techniques like LAZER or SONAR use probabilistic methods and have a drawback of allowing considerable uncertainty in the mapping…
With the aim of bridging the gap between high quality reconstruction and mobile robot motion planning, we propose an efficient system that leverages the concept of adaptive-resolution volumetric mapping, which naturally integrates with the…
An important open problem in robotic planning is the autonomous generation of 3D inspection paths -- that is, planning the best path to move a robot along in order to inspect a target structure. We recently suggested a new method for…
2D top-down maps are commonly used for the navigation and exploration of mobile robots through unknown areas. Typically, the robot builds the navigation maps incrementally from local observations using onboard sensors. Recent works have…
We present a method for solving the coverage problem with the objective of autonomously exploring an unknown environment under mission time constraints. Here, the robot is tasked with planning a path over a horizon such that the accumulated…
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…
Autonomous locomotion for mobile ground robots in unstructured environments such as waypoint navigation or flipper control requires a sufficiently accurate prediction of the robot-terrain interaction. Heuristics like occupancy grids or…
Object-based maps are relevant for scene understanding since they integrate geometric and semantic information of the environment, allowing autonomous robots to robustly localize and interact with on objects. In this paper, we address the…
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…
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…
This paper presents an autonomous navigation framework for reaching a goal in unknown 3D cluttered environments. The framework consists of three main components. First, a computationally efficient method for mapping the environment from the…