Related papers: Fast, Accurate Thin-Structure Obstacle Detection f…
Obstacle Detection is a central problem for any robotic system, and critical for autonomous systems that travel at high speeds in unpredictable environment. This is often achieved through scene depth estimation, by various means. When fast…
Edges are the fundamental visual element for discovering tiny obstacles using a monocular camera. Nevertheless, tiny obstacles often have weak and inconsistent edge cues due to various properties such as small size and similar appearance to…
Thin structures, such as wire-frame sculptures, fences, cables, power lines, and tree branches, are common in the real world. It is extremely challenging to acquire their 3D digital models using traditional image-based or depth-based…
Accurate perception of dynamic obstacles is essential for autonomous robot navigation in indoor environments. Although sophisticated 3D object detection and tracking methods have been investigated and developed thoroughly in the fields of…
Drones operating in complex environments face a significant threat from thin obstacles, such as steel wires and kite strings at the submillimeter level, which are notoriously difficult for conventional sensors like RGB cameras, LiDAR, and…
Mobile robots navigating in indoor and outdoor environments must be able to identify and avoid unsafe terrain. Although a significant amount of work has been done on the detection of standing obstacles (solid obstructions), not much work…
With the growing deployment of autonomous driving agents, the detection and segmentation of road obstacles have become critical to ensure safe autonomous navigation. However, existing road-obstacle segmentation methods are applied on…
For tiny obstacle discovery in a monocular image, edge is a fundamental visual element. Nevertheless, because of various reasons, e.g., noise and similar color distribution with background, it is still difficult to detect the edges of tiny…
Stereo cameras are a popular choice for obstacle avoidance for outdoor lighweight, low-cost robotics applications. However, they are unable to sense thin and reflective objects well. Currently, many algorithms are tuned to perform well on…
Visual localization and mapping is a crucial capability to address many challenges in mobile robotics. It constitutes a robust, accurate and cost-effective approach for local and global pose estimation within prior maps. Yet, in highly…
Dynamic obstacle avoidance is one crucial component for compliant navigation in crowded environments. In this paper we present a system for accurate and reliable detection and tracking of dynamic objects using noisy point cloud data…
Object detection plays a critical role in autonomous driving, where accurately and efficiently detecting objects in fast-moving scenes is crucial. Traditional frame-based cameras face challenges in balancing latency and bandwidth,…
Over the past few years, the use of camera-equipped robotic platforms for data collection and visually monitoring applications has exponentially grown. Cluttered construction sites with many objects (e.g., bricks, pipes, etc.) on the ground…
We present TOPGN, a novel method for real-time transparent obstacle detection for robot navigation in unknown environments. We use a multi-layer 2D grid map representation obtained by summing the intensities of lidar point clouds that lie…
Deploying autonomous robots in crowded indoor environments usually requires them to have accurate dynamic obstacle perception. Although plenty of previous works in the autonomous driving field have investigated the 3D object detection…
Obstacle avoidance is a fundamental and challenging problem for autonomous navigation of mobile robots. In this paper, we consider the problem of obstacle avoidance in simple 3D environments where the robot has to solely rely on a single…
On-road obstacle detection is an important field of research that falls in the scope of intelligent transportation infrastructure systems. The use of vision-based approaches results in an accurate and cost-effective solution to such…
The increasing adoption of electric scooters (e-scooters) in urban areas has coincided with a rise in traffic accidents and injuries, largely due to their small wheels, lack of suspension, and sensitivity to uneven surfaces. While deep…
Technology has made navigation in 3D real time possible and this has made possible what seemed impossible. This paper explores the aspect of deep visual odometry methods for mobile robots. Visual odometry has been instrumental in making…
Many applications in vision require estimation of thin structures such as boundary edges, surfaces, roads, blood vessels, neurons, etc. Unlike most previous approaches, we simultaneously detect and delineate thin structures with sub-pixel…