Related papers: Monocular Imaging-based Autonomous Tracking for Lo…

Relying on monocular image data for precise 3D object detection remains an open problem, whose solution has broad implications for cost-sensitive applications such as traffic monitoring. We present UrbanNet, a modular architecture for long…

Although quadrotors, and aerial robots in general, are inherently active agents, their perceptual capabilities in literature so far have been mostly passive in nature. Researchers and practitioners today use traditional computer vision…

In this paper, we present a complete description of the hardware design and control architecture of our custom built quadruped robot, called the `Stoch'. Our goal is to realize a robust, modular, and a reliable quadrupedal platform, using…

Despite significant advancements in environment perception capabilities for autonomous driving and intelligent robotics, cameras and LiDARs remain notoriously unreliable in low-light conditions and adverse weather, which limits their…

This paper presents a low-cost, centralized modular underwater robot platform, ModCube, which can be used to study swarm coordination for a wide range of tasks in underwater environments. A ModCube structure consists of multiple ModCube…

MOMAV (Marco's Omnidirectional Micro Aerial Vehicle) is a multirotor drone that is fully actuated, meaning it can control its orientation independently of its position. MOMAV is also highly symmetrical, making its flight efficiency largely…

This study presents the design of a six-wheeled outdoor autonomous mobile robot. The main design goal of our robot is to increase its adaptability and flexibility when moving outdoors. This six-wheeled robot platform was equipped with some…

Micro aerial vehicles are becoming increasingly important in search and rescue operations due to their agility, speed, and ability to access confined spaces or hazardous areas. However, designing lightweight aerial systems presents…

Considerable progress has been made in semantic scene understanding of road scenes with monocular cameras. It is, however, mainly related to certain classes such as cars and pedestrians. This work investigates traffic cones, an object class…

Heterogeneous teams of mobile robots and UAVs are offering a substantial benefit in an autonomous exploration of the environment. Nevertheless, although joint exploration scenarios for such systems are widely discussed, they are still…

Trajectory optimization is an important tool for control and planning of complex, underactuated robots, and has shown impressive results in real world robotic tasks. However, in applications where the cost function to be optimized is…

Autonomous aerial-surface robot teams offer a scalable solution for maritime monitoring, but deployment remains difficult due to water-induced visual artifacts and bandwidth-limited coordination. This paper presents a decentralized…

In autonomous racing, reactive controllers eliminate the computational burden of the full See-Think-Act autonomy stack by directly mapping sensor inputs to control actions. This bypasses the need for explicit localization and trajectory…

Monocular 3D motion capture (mocap) is beneficial to many applications. The use of a single camera, however, often fails to handle occlusions of different body parts and hence it is limited to capture relatively simple movements. We present…

We present the design of a low-cost wheeled mobile robot, and an analytical model for predicting its motion under the influence of motor torques and friction forces. Using our proposed model, we show how to analytically compute the gradient…

Quadruped robots are machines intended for challenging and harsh environments. Despite the progress in locomotion strategy, safely recovering from unexpected falls or planned drops is still an open problem. It is further made more difficult…

This paper presents a novel multi-modal Multi-Object Tracking (MOT) algorithm for self-driving cars that combines camera and LiDAR data. Camera frames are processed with a state-of-the-art 3D object detector, whereas classical clustering…

Railway systems, particularly in Germany, require high levels of automation to address legacy infrastructure challenges and increase train traffic safely. A key component of automation is robust long-range perception, essential for early…

In this paper we describe the Open Vision Computer (OVC) which was designed to support high speed, vision guided autonomous drone flight. In particular our aim was to develop a system that would be suitable for relatively small-scale flying…

Optical flow captures the motion of pixels in an image sequence over time, providing information about movement, depth, and environmental structure. Flying insects utilize this information to navigate and avoid obstacles, allowing them to…