Related papers: Improved Visual-Inertial Localization for Low-cost…
Vision-based underwater robots can be useful in inspecting and exploring confined spaces where traditional sensors and preplanned paths cannot be followed. Sensor noise and situational change can cause significant uncertainty in…
In recent years, Neural Radiance Fields (NeRF) have emerged as a powerful tool for 3D reconstruction and novel view synthesis. However, the computational cost of NeRF rendering and degradation in quality due to the presence of artifacts…
The integration of robotic arm manipulators into industrial manufacturing lines has become common, thanks to their efficiency and effectiveness in executing specific tasks. With advancements in camera technology, visual sensors and…
Positional estimation is of great importance in the public safety sector. Emergency responders such as fire fighters, medical rescue teams, and the police will all benefit from a resilient positioning system to deliver safe and effective…
Visual sensor networks are used for monitoring traffic in large cities and are promised to support automated driving in complex road segments. The pose of these sensors, i.e. position and orientation, directly determines the coverage of the…
This paper proposes a low-level visual navigation algorithm to improve visual localization of a mobile robot. The algorithm, based on artificial potential fields, associates each feature in the current image frame with an attractive or…
Visual localization, i.e., determining the position and orientation of a vehicle with respect to a map, is a key problem in autonomous driving. We present a multicamera visual inertial localization algorithm for large scale environments. To…
In this paper, a computational resources-aware parameter adaptation method for visual-inertial navigation systems is proposed with the goal of enabling the improved deployment of such algorithms on computationally constrained systems. Such…
Accurate inertial parameter identification is crucial for the simulation and control of robots encountering intermittent contact with the environment. Classically, robots' inertial parameters are obtained from CAD models that are not…
The LiDAR and inertial sensors based localization and mapping are of great significance for Unmanned Ground Vehicle related applications. In this work, we have developed an improved LiDAR-inertial localization and mapping system for…
Visual localization for planar moving robot is important to various indoor service robotic applications. To handle the textureless areas and frequent human activities in indoor environments, a novel robust visual localization algorithm…
Monocular cameras coupled with inertial measurements generally give high performance visual inertial odometry. However, drift can be significant with long trajectories, especially when the environment is visually challenging. In this paper,…
Navigating in off-road environments for wheeled mobile robots is challenging due to dynamic and rugged terrain. Traditional physics-based stability metrics, such as Static Stability Margin (SSM) or Zero Moment Point (ZMP) require knowledge…
We present a visual and inertial-based terrain classification network (VINet) for robotic navigation over different traversable surfaces. We use a novel navigation-based labeling scheme for terrain classification and generalization on…
The Visual-Inertial Simultaneous Localization and Mapping (VI-SLAM) algorithms which are mostly based on static assumption are widely used in fields such as robotics, UAVs, VR, and autonomous driving. To overcome the localization risks…
This paper presents a vision guidance and control method for autonomous robotic capture and stabilization of orbital objects in a time-critical manner. The method takes into account various operational and physical constraints, including…
Precise localization is of great importance for autonomous parking task since it provides service for the downstream planning and control modules, which significantly affects the system performance. For parking scenarios, dynamic lighting,…
Motivated by the goal of achieving robust, drift-free pose estimation in long-term autonomous navigation, in this work we propose a methodology to fuse global positional information with visual and inertial measurements in a tightly-coupled…
Active Search and Tracking for search and rescue missions or collaborative mobile robotics relies on the actuation of a sensing platform to detect and localize a target. In this paper we focus on visually detecting a radio-emitting target…
An important focus of current research in the field of Micro Aerial Vehicles (MAVs) is to increase the safety of their operation in general unstructured environments. Especially indoors, where GPS cannot be used for localization, reliable…