Related papers: Deformable Map Matching for Uncertain Loop-Less Ma…
Planning collision-free motions for robots with many degrees of freedom is challenging in environments with complex obstacle geometries. Recent work introduced the idea of speeding up the planning by encoding prior experience of successful…
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…
Kernel approximation via nonlinear random feature maps is widely used in speeding up kernel machines. There are two main challenges for the conventional kernel approximation methods. First, before performing kernel approximation, a good…
Long-term metric self-localization is an essential capability of autonomous mobile robots, but remains challenging for vision-based systems due to appearance changes caused by lighting, weather, or seasonal variations. While…
Purpose of Review Planning collision-free paths for multiple robots is important for real-world multi-robot systems and has been studied as an optimization problem on graphs, called Multi-Agent Path Finding (MAPF). This review surveys…
Safe robot navigation is a fundamental research field for autonomous robots including ground mobile robots and flying robots. The primary objective of a safe robot navigation algorithm is to guide an autonomous robot from its initial…
In robotic deformable object manipulation (DOM) applications, constraints arise commonly from environments and task-specific requirements. Enabling DOM with constraints is therefore crucial for its deployment in practice. However, dealing…
In many applications, maintaining a consistent dense map of the environment is key to enabling robotic platforms to perform higher level decision making. Several works have addressed the challenge of creating precise dense 3D maps from…
In robotic applications, a key requirement for safe and efficient motion planning is the ability to map obstacle-free space in unknown, cluttered 3D environments. However, commodity-grade RGB-D cameras commonly used for sensing fail to…
We propose a lifelong 3D mapping framework that is modular, cloud-native by design and more importantly, works for both hand-held and robot-mounted 3D LiDAR mapping systems. Our proposed framework comprises of dynamic point removal,…
In this paper, we study the problem of map matching with travel time constraints. Given a sequence of $k$ spatio-temporal measurements and an embedded path graph with travel time costs, the goal is to snap each measurement to a close-by…
Most existing methods for motion planning of mobile robots involve generating collision-free trajectories. However, these methods focusing solely on contact avoidance may limit the robots' locomotion and can not be applied to tasks where…
Estimating collision probabilities between robots and environmental obstacles or other moving agents is crucial to ensure safety during path planning. This is an important building block of modern planning algorithms in many application…
Since their introduction in the shape analysis community, functional maps have met with considerable success due to their ability to compactly represent dense correspondences between deformable shapes, with applications ranging from shape…
Autonomous navigation of a mobile robot is a challenging task which requires ability of mapping, localization, path planning and path following. Conventional mapping methods build a dense metric map like an occupancy grid, which is affected…
Most existing motion planning algorithms assume that a map (of some quality) is fully determined prior to generating a motion plan. In many emerging applications of robotics, e.g., fast-moving agile aerial robots with constrained embedded…
We introduce a novel matching algorithm, called DeepMatching, to compute dense correspondences between images. DeepMatching relies on a hierarchical, multi-layer, correlational architecture designed for matching images and was inspired by…
Navigation and guidance of autonomous vehicles is a fundamental problem in robotics, which has attracted intensive research in recent decades. This report is mainly concerned with provable collision avoidance of multiple autonomous vehicles…
The free-form deformation model can represent a wide range of non-rigid deformations by manipulating a control point lattice over the image. However, due to a large number of parameters, it is challenging to fit the free-form deformation…
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…