Related papers: Long-term map maintenance pipeline for autonomous …
Maintaining an up-to-date map to reflect recent changes in the scene is very important, particularly in situations involving repeated traversals by a robot operating in an environment over an extended period. Undetected changes may cause a…
Maintaining a map online is resource-consuming while a robust navigation system usually needs environment abstraction via a well-fused map. In this paper, we propose a mapless planner which directly conducts such abstraction on the unfused…
Online change detection is crucial for mobile robots to efficiently navigate through dynamic environments. Detecting changes in transient settings, such as active construction sites or frequently reconfigured indoor spaces, is particularly…
For connected vehicles to have a substantial effect on road safety, it is required that accurate positions and trajectories can be shared. To this end, all vehicles must be accurately geolocalized in a common frame. This can be achieved by…
Offline map matching involves aligning historical trajectories of mobile objects, which may have positional errors, with digital maps. This is essential for applications in intelligent transportation systems (ITS), such as route analysis…
Parking guidance systems have recently become a popular trend as a part of the smart cities' paradigm of development. The crucial part of such systems is the algorithm allowing drivers to search for available parking lots across regions of…
Topological maps are favorable for their small storage compared to geometric map. However, they are limited in relocalization and path planning capabilities. To solve this problem, a feature-based hierarchical topological map (FHT-Map) is…
Most consumer-level low-cost unmanned aerial vehicles (UAVs) have limited battery power and long charging time. Due to these energy constraints, they cannot accomplish many practical tasks, such as monitoring a sport or political event for…
In recent years, the robotics community has extensively examined methods concerning the place recognition task within the scope of simultaneous localization and mapping applications.This article proposes an appearance-based loop closure…
High Definition (HD) maps are necessary for many applications of automated driving (AD), but their manual creation and maintenance is very costly. Vehicle fleet data from series production vehicles can be used to automatically generate HD…
High-definition (HD) maps offer extensive and accurate environmental information about the driving scene, making them a crucial and essential element for planning within autonomous driving systems. To avoid extensive efforts from manual…
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…
Multi-Agent Path Finding (MAPF) is a fundamental problem in robotics that asks us to compute collision-free paths for a team of agents, all moving across a shared map. Although many works appear on this topic, all current algorithms…
The problem of path planning in unknown environments remains a challenging problem - as the environment is gradually observed during the navigation, the underlying planner has to update the environment representation and replan, promptly…
Robust and accurate localization is an essential component for robotic navigation and autonomous driving. The use of cameras for localization with high definition map (HD Map) provides an affordable localization sensor set. Existing methods…
It is challenging for the mobile robot to achieve autonomous and mapless navigation in the unknown environment with uneven terrain. In this study, we present a layered and systematic pipeline. At the local level, we maintain a tree…
Detection and tracking of dynamic objects is a key feature for autonomous behavior in a continuously changing environment. With the increasing popularity and capability of micro aerial vehicles (MAVs) efficient algorithms have to be…
In the era of autonomous driving, urban mapping represents a core step to let vehicles interact with the urban context. Successful mapping algorithms have been proposed in the last decade building the map leveraging on data from a single…
Feature based visual odometry and SLAM methods require accurate and fast correspondence matching between consecutive image frames for precise camera pose estimation in real-time. Current feature matching pipelines either rely solely on the…
Maps provide robots with crucial environmental knowledge, thereby enabling them to perform interactive tasks effectively. Easily accessing accurate abstract-to-detailed geometric and semantic concepts from maps is crucial for robots to make…