Related papers: Real-Time Ellipse Detection for Robotics Applicati…
Autonomous robots enjoy a wide popularity nowadays and have been applied in many applications, such as home security, entertainment, delivery, navigation and guidance. It is vital to robots to track objects accurately in these applications,…
We present a novel algorithm specially designed for loop detection and registration that utilizes Lidar-based perception. Our approach to loop detection involves voxelizing point clouds, followed by an overlap calculation to confirm whether…
We propose an approach to detect flying objects such as UAVs and aircrafts when they occupy a small portion of the field of view, possibly moving against complex backgrounds, and are filmed by a camera that itself moves. Solving such a…
The presence of outliers can significantly degrade the performance of ellipse fitting methods. We develop an ellipse fitting method that is robust to outliers based on the maximum correntropy criterion with variable center (MCC-VC), where a…
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…
This study proposes a method for the real-time detection and recognition of targets in streetscape videos. The proposed method is based on separation confidence computation and scale synthesis optimization. We use the proposed method to…
This thesis presents important insights and concepts related to the topic of the extraction of geometric primitives from the edge contours of digital images. Three specific problems related to this topic have been studied, viz., polygonal…
Robust waypoint prediction is crucial for mobile robots operating in open-world, safety-critical settings. While Imitation Learning (IL) methods have demonstrated great success in practice, they are susceptible to distribution shifts: the…
- Both Lidars and Radars are sensors for obstacle detection. While Lidars are very accurate on obstacles positions and less accurate on their velocities, Radars are more precise on obstacles velocities and less precise on their positions.…
Model fitting is frequently used to determine the shape of galaxies and the point spread function, for examples, in weak lensing analyses or morphology studies aiming at probing the evolution of galaxies. However, the number of parameters…
Advanced embedded algorithms are growing in complexity and they are an essential contributor to the growth of autonomy in many areas. However, the promise held by these algorithms cannot be kept without proper attention to the considerably…
We present a fast algorithm for global rigid symmetry detection with approximation guarantees. The algorithm is guaranteed to find the best approximate symmetry of a given shape, to within a user-specified threshold, with very high…
License Plate recognition plays an important role on the traffic monitoring and parking management systems. In this paper, a fast and real time method has been proposed which has an appropriate application to find tilt and poor quality…
This paper proposes a robust, high-precision positioning methodology to address localization failures arising from complex background interference in large-scale flight navigation and the computational inefficiency inherent in conventional…
We propose a novel and pragmatic framework for traffic scene perception with roadside cameras. The proposed framework covers a full-stack of roadside perception pipeline for infrastructure-assisted autonomous driving, including object…
In this paper, we propose an efficient algorithm for robust place recognition and loop detection using camera information only. Our pipeline purely relies on spatial localization and semantic information of road markings. The creation of…
In this study, we address the problem of in-flight object catching using a quadruped robot with a basket. Our objective is to accurately predict the impact point, defined as the object's landing position. This task poses two key challenges:…
This paper presents a state-of-the-art filter that reduces the complexity in object detection, tracking and mapping applications. Existing edge detection and tracking methods are proposed to create suitable autonomy for mobile robots,…
The recent increase in the use of aerial vehicles raises concerns about the safety and reliability of autonomous operations. There is a growing need for methods to monitor the status of these aircraft and report any faults and anomalies to…
Obstacle Detection is a central problem for any robotic system, and critical for autonomous systems that travel at high speeds in unpredictable environment. This is often achieved through scene depth estimation, by various means. When fast…