Related papers: An Efficient Indoor Navigation Technique To Find O…
Navigating safely in urban environments remains a challenging problem for autonomous vehicles. Occlusion and limited sensor range can pose significant challenges to safely navigate among pedestrians and other vehicles in the environment.…
Augmented reality (AR) offers promising opportunities to support movement-based activities, such as personal training or physical therapy, with real-time, spatially-situated visual cues. While many approaches leverage AR to guide motion,…
For mobile robots, mobile manipulators, and autonomous vehicles to safely navigate around populous places such as streets and warehouses, human observers must be able to understand their navigation intent. One way to enable such…
Drones in many applications need the ability to fly fully or partially autonomously to accomplish their mission. To allow these fully/partially autonomous flights, first, the drone needs to be able to locate itself constantly. Then the…
Indoor localization systems often fuse inertial odometry with map information via hand-defined methods to reduce odometry drift, but such methods are sensitive to noise and struggle to generalize across odometry sources. To address the…
These days mobile devices like phones or tablets are very common among people of all age. They are connected with network and provide seamless communications through internet or cellular services. These devices can be a big help for the…
Indoor navigation is challenging due to the absence of satellite positioning. This challenge is manifold greater for Visually Impaired People (VIPs) who lack the ability to get information from wayfinding signage. Other sensor signals…
Mobile robot navigation in total or partially unknown environments is still an open problem. The path planning algorithms lack completeness and/or performance. Thus, there is the need for complete (i.e., the algorithm determines in finite…
People navigating in unfamiliar buildings take advantage of myriad visual, spatial and semantic cues to efficiently achieve their navigation goals. Towards equipping computational agents with similar capabilities, we introduce Pathdreamer,…
In this paper, we present a planning framework that uses a combination of implicit (robot motion) and explicit (visual/audio/haptic feedback) communication during mobile robot navigation. First, we developed a model that approximates both…
A fundamental prerequisite for safe and efficient navigation of mobile robots is the availability of reliable navigation maps upon which trajectories can be planned. With the increasing industrial interest in mobile robotics, especially in…
Early visual to auditory substitution devices encode 2D monocular images into sounds while more recent devices use distance information from 3D sensors. This study assesses whether the addition of sound-encoded distance in recent systems…
This paper presents an approach for navigation and control in unmapped environments under input and state constraints using a composite control barrier function (CBF). We consider the scenario where real-time perception feedback (e.g.,…
In the absence of external reference position information (e.g. GNSS) SLAM has proven to be an effective method for indoor navigation. The positioning drift can be reduced with regular loop-closures and global relaxation as the backend,…
Quick response codes - 2D patterns that can be scanned to access online resources - are being used in a variety of industrial and consumer applications. However, it is problematic to use multiple QR codes in close proximity: scans can fail…
Indoor motion planning focuses on solving the problem of navigating an agent through a cluttered environment. To date, quite a lot of work has been done in this field, but these methods often fail to find the optimal balance between…
Building a complete inertial navigation system using the limited quality data provided by current smartphones has been regarded challenging, if not impossible. This paper shows that by careful crafting and accounting for the weak…
Empowering people who are blind or visually impaired (BVI) to enhance their orientation and mobility skills is critical to equalizing their access to social and economic opportunities. To manage this crucial challenge, we employed a novel…
According to the World Health Organization(WHO), it is estimated that approximately 1.3 billion people live with some forms of vision impairment globally, of whom 36 million are blind. Due to their disability, engaging these minority into…
Navigating autonomous robots through dense forests and rugged terrains is especially daunting when exteroceptive sensors -- such as cameras and LiDAR sensors -- fail under occlusions, low-light conditions, or sensor noise. We present…