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Autonomous highway driving, especially for long-haul heavy trucks, requires detecting objects at long ranges beyond 500 meters to satisfy braking distance requirements at high speeds. At long distances, vehicles and other critical objects…
In this paper we present a novel method for obstacle avoidance using the stereo camera. The conventional obstacle avoidance methods and their limitations are discussed. A new algorithm is developed for the real-time obstacle avoidance which…
Near-field perception is essential for the safe operation of autonomous mobile robots (AMRs) in manufacturing environments. Conventional ranging sensors such as light detection and ranging (LiDAR) and ultrasonic devices provide broad…
Lidar has become an essential sensor for autonomous driving as it provides reliable depth estimation. Lidar is also the primary sensor used in building 3D maps which can be used even in the case of low-cost systems which do not use Lidar.…
3D object localisation based on a sequence of camera measurements is essential for safety-critical surveillance tasks, such as drone-based wildfire monitoring. Localisation of objects detected with a camera can typically be solved with…
This paper proposes a novel approach for detecting objects using mobile robots in the context of the RoboCup Standard Platform League, with a primary focus on detecting the ball. The challenge lies in detecting a dynamic object in varying…
Wear and tear detection in fleet and shared vehicle systems is a critical challenge, particularly in rental and car-sharing services, where minor damage, such as dents, scratches, and underbody impacts, often goes unnoticed or is detected…
This paper presents a novel obstacle avoidance system for road robots equipped with RGB-D sensor that captures scenes of its way forward. The purpose of the system is to have road robots move around autonomously and constantly without any…
Object slip perception is essential for mobile manipulation robots to perform manipulation tasks reliably in the dynamic real-world. Traditional approaches to robot arms' slip perception use tactile or vision sensors. However, mobile robots…
Many mobile robots rely on 2D laser scanners for localization, mapping, and navigation. However, those sensors are unable to correctly provide distance to obstacles such as glass panels and tables whose actual occupancy is invisible at the…
The safety of mobile robots in dynamic environments is predicated on making sure that they do not collide with obstacles. In support of such safety arguments, we analyze and formally verify a series of increasingly powerful safety…
To be useful in everyday environments, robots must be able to identify and locate real-world objects. In recent years, video object segmentation has made significant progress on densely separating such objects from background in real and…
Object detection precision is crucial for ensuring the safety and efficacy of autonomous driving systems. The quality of acquired images directly influences the ability of autonomous driving systems to correctly recognize and respond to…
The fields of autonomous systems and robotics are receiving considerable attention in civil applications such as construction, logistics, and firefighting. Nevertheless, the widespread adoption of these technologies is hindered by the…
This paper is devoted to the detection of objects on a road, performed with a combination of two methods based on both the use of depth information and video analysis of data from a stereo camera. Since neither the time of the appearance of…
Detecting dynamic objects and predicting static road information such as drivable areas and ground heights are crucial for safe autonomous driving. Previous works studied each perception task separately, and lacked a collective quantitative…
Visual odometry is important for plenty of applications such as autonomous vehicles, and robot navigation. It is challenging to conduct visual odometry in textureless scenes or environments with sudden illumination changes where popular…
Images are often obstructed by various obstacles due to capture limitations, hindering the observation of objects of interest. Most existing methods address occlusions from specific elements like fences or raindrops, but are constrained by…
Object recognition in unseen indoor environments remains a challenging problem for visual perception of mobile robots. In this letter, we propose the use of topologically persistent features, which rely on the objects' shape information, to…
There has been significant progresses for image object detection in recent years. Nevertheless, video object detection has received little attention, although it is more challenging and more important in practical scenarios. Built upon the…