Related papers: An Open-Source Low-Cost Mobile Robot System with a…
The bundle of geometry and appearance in computer vision has proven to be a promising solution for robots across a wide variety of applications. Stereo cameras and RGB-D sensors are widely used to realise fast 3D reconstruction and…
Path planning and collision avoidance are challenging in complex and highly variable environments due to the limited horizon of events. In literature, there are multiple model- and learning-based approaches that require significant…
Safe navigation with simultaneous localization and mapping (SLAM) for autonomous robots is crucial in challenging environments. To achieve this goal, detecting moving objects in the surroundings and building a static map are essential.…
Navigation is a fundamental capacity for mobile robots, enabling them to operate autonomously in complex and dynamic environments. Conventional approaches use probabilistic models to localize robots and build maps simultaneously using…
While dense visual SLAM methods are capable of estimating dense reconstructions of the environment, they suffer from a lack of robustness in their tracking step, especially when the optimisation is poorly initialised. Sparse visual SLAM…
Existing Simultaneous Localization and Mapping (SLAM) approaches are limited in their scalability due to growing map size in long-term robot operation. Moreover, processing such maps for localization and planning tasks leads to the…
Most mobile robots for indoor use rely on 2D laser scanners for localization, mapping and navigation. These sensors, however, cannot detect transparent surfaces or measure the full occupancy of complex objects such as tables. Deep Neural…
Occupancy mapping is a fundamental component of robotic systems to reason about the unknown and known regions of the environment. This article presents an efficient occupancy mapping framework for high-resolution LiDAR sensors, termed…
Mapping the environment has been an important task for robot navigation and Simultaneous Localization And Mapping (SLAM). LIDAR provides a fast and accurate 3D point cloud map of the environment which helps in map building. However,…
An essential task for a multi-robot system is generating a common understanding of the environment and relative poses between robots. Cooperative tasks can be executed only when a vehicle has knowledge of its own state and the states of the…
In many applications, maintaining a consistent map of the environment is key to enabling robotic platforms to perform higher-level decision making. Detection of already visited locations is one of the primary ways in which map consistency…
This paper proposes a navigation method considering blind spots based on the robot operating system (ROS) navigation stack and blind spots layer (BSL) for a wheeled mobile robot. In this paper, environmental information is recognized using…
In this work, we have implemented a SLAM-assisted navigation module for a real autonomous vehicle with unknown dynamics. The navigation objective is to reach a desired goal configuration along a collision-free trajectory while adhering to…
The integration of neural rendering and the SLAM system recently showed promising results in joint localization and photorealistic view reconstruction. However, existing methods, fully relying on implicit representations, are so…
Visual navigation in robotics traditionally relies on globally-consistent 3D maps or learned controllers, which can be computationally expensive and difficult to generalize across diverse environments. In this work, we present a novel…
In this paper, we address the challenge of navigating through unknown indoor environments using autonomous aerial robots within confined spaces. The core of our system involves the integration of key sensor technologies, including depth…
Mobile robots are becoming increasingly important both for individuals and industries. Mobile robotic technology is not only utilised by experts in this field but is also very popular among amateurs. However, implementing a mobile robot to…
Mapless navigation has emerged as a promising approach for enabling autonomous robots to navigate in environments where pre-existing maps may be inaccurate, outdated, or unavailable. In this work, we propose an image-based local…
Purpose: Comprehensive legal medicine documentation includes both an internal but also an external examination of the corpse. Typically, this documentation is conducted manually during conventional autopsy. A systematic digital…
Scalable and maintainable map representations are fundamental to enabling large-scale visual navigation and facilitating the deployment of robots in real-world environments. While collaborative localization across multi-session mapping…