Related papers: Mobility Map Computations for Autonomous Navigatio…
Autonomous navigation in unstructured environments requires robots to assess terrain difficulty in real-time and plan paths that balance efficiency with safety. This thesis presents a traversability-aware navigation framework for the M4…
Inspired by human behavior when traveling over unknown terrain, this study proposes the use of probing strategies and integrates them into a traversability analysis framework to address safe navigation on unknown rough terrain. Our…
Mapping and localization are essential capabilities of robotic systems. Although the majority of mapping systems focus on static environments, the deployment in real-world situations requires them to handle dynamic objects. In this paper,…
This paper introduces a framework for an indoor autonomous mobility system that can perform patient transfers and materials handling. Unlike traditional systems that rely on onboard perception sensors, the proposed approach leverages a…
Autonomous robots that interact with their environment require a detailed semantic scene model. For this, volumetric semantic maps are frequently used. The scene understanding can further be improved by including object-level information in…
The anticipation of human behavior is a crucial capability for robots to interact with humans safely and efficiently. We employ a smart edge sensor network to provide global observations, future predictions, and goal information to…
Camera-equipped unmanned vehicles (UVs) have received a lot of attention in data collection for construction monitoring applications. To develop an autonomous platform, the UV should be able to process multiple modules (e.g.,…
Semantic scene segmentation plays a critical role in a wide range of robotics applications, e.g., autonomous navigation. These applications are accompanied by specific computational restrictions, e.g., operation on low-power GPUs, at…
Most existing robotic datasets capture static scene data and thus are limited in evaluating robots' dynamic performance. To address this, we present a mobile robot oriented large-scale indoor dataset, denoted as THUD (Tsinghua University…
In the paper, we propose a robust real-time visual odometry in dynamic environments via rigid-motion model updated by scene flow. The proposed algorithm consists of spatial motion segmentation and temporal motion tracking. The spatial…
Ensuring safe navigation in human-populated environments is crucial for autonomous mobile robots. Although recent advances in machine learning offer promising methods to predict human trajectories in crowded areas, it remains unclear how…
This paper presents an architecture and methodology to empower a service robot to navigate an indoor environment with semantic decision making, given RGB ego view. This method leverages the knowledge of robot's actuation capability and that…
Mapping and navigation have gone hand-in-hand since long before robots existed. Maps are a key form of communication, allowing someone who has never been somewhere to nonetheless navigate that area successfully. In the context of…
The rapid development of robotics has benefited by more and more people putting their attention to it. With the demand for robots is growing for the purpose of fulfilling tasks instead of humans, how to control the robot better is becoming…
Towards the role of humanoid robots as squad mates in urban operations and other domains, we identified doors as a major area lacking capability development. In this paper, we focus on the ability of humanoid robots to navigate and deal…
The integration of Light Detection and Ranging (LiDAR) and Internet of Things (IoT) technologies offers transformative opportunities for public health informatics in urban safety and pedestrian well-being. This paper proposes a novel…
Visually impaired people usually find it hard to travel independently in many public places such as airports and shopping malls due to the problems of obstacle avoidance and guidance to the desired location. Therefore, in the highly dynamic…
We present a semantically rich graph representation for indoor robotic navigation. Our graph representation encodes: semantic locations such as offices or corridors as nodes, and navigational behaviors such as enter office or cross a…
Accurate 3D scene motion perception significantly enhances the safety and reliability of an autonomous driving system. Benefiting from its all-weather operational capability and unique perceptual properties, 4D mmWave radar has emerged as…
Mobile robots are traditionally developed to be reactive and avoid collisions with surrounding humans, often moving in unnatural ways without following social protocols, forcing people to behave very differently from human-human interaction…