Related papers: Dynamic Objects Segmentation for Visual Localizati…
We propose a real-time dynamic LiDAR odometry pipeline for mobile robots in Urban Search and Rescue (USAR) scenarios. Existing approaches to dynamic object detection often rely on pretrained learned networks or computationally expensive…
In dynamic environments, the ability to detect and track moving objects in real-time is crucial for autonomous robots to navigate safely and effectively. Traditional methods for dynamic object detection rely on high accuracy odometry and…
We describe a method for performing active localization of objects in instances of visual situations. A visual situation is an abstract concept---e.g., "a boxing match", "a birthday party", "walking the dog", "waiting for a bus"---whose…
Detection and segmentation of moving obstacles, along with prediction of the future occupancy states of the local environment, are essential for autonomous vehicles to proactively make safe and informed decisions. In this paper, we propose…
In this work, we present a method for tracking and learning the dynamics of all objects in a large scale robot environment. A mobile robot patrols the environment and visits the different locations one by one. Movable objects are discovered…
Object detection is a critical problem for the safe interaction between autonomous vehicles and road users. Deep-learning methodologies allowed the development of object detection approaches with better performance. However, there is still…
Can knowing where you are assist in perceiving objects in your surroundings, especially under adverse weather and lighting conditions? In this work we investigate whether a prior map can be leveraged to aid in the detection of dynamic…
We present a novel approach to place recognition well-suited to environments with many dynamic objects--objects that may or may not be present in an agent's subsequent visits. By incorporating an object-detecting preprocessing step, our…
To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…
Highly dynamic environments, with moving objects such as cars or humans, can pose a performance challenge for LiDAR SLAM systems that assume largely static scenes. To overcome this challenge and support the deployment of robots in real…
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…
This paper introduces an active object detection and localization framework that combines a robust untextured object detection and 3D pose estimation algorithm with a novel next-best-view selection strategy. We address the detection and…
Real-time detection of moving objects is an essential capability for robots acting autonomously in dynamic environments. We thus propose Dynablox, a novel online mapping-based approach for robust moving object detection in complex…
Visual place recognition is one of the essential and challenging problems in the fields of robotics. In this letter, we for the first time explore the use of multi-modal fusion of semantic and visual modalities in dynamics-invariant space…
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…
Mobile robots that navigate in unknown environments need to be constantly aware of the dynamic objects in their surroundings for mapping, localization, and planning. It is key to reason about moving objects in the current observation and at…
Robotic grasping is facing a variety of real-world uncertainties caused by non-static object states, unknown object properties, and cluttered object arrangements. The difficulty of grasping increases with the presence of more uncertainties,…
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…
This work proposes a process for efficiently training a point-wise object detector that enables localizing objects and computing their 6D poses in cluttered and occluded scenes. Accurate pose estimation is typically a requirement for robust…
Object detection is an essential task for autonomous robots operating in dynamic and changing environments. A robot should be able to detect objects in the presence of sensor noise that can be induced by changing lighting conditions for…