Related papers: Correspondenceless scan-to-map-scan matching of ho…
Safe autonomous navigation in a priori unknown environments is an essential skill for mobile robots to reliably and adaptively perform diverse tasks (e.g., delivery, inspection, and interaction) in unstructured cluttered environments.…
Robust and accurate, map-based localization is crucial for autonomous mobile systems. In this paper, we exploit range images generated from 3D LiDAR scans to address the problem of localizing mobile robots or autonomous cars in a map of a…
This paper presents a simultaneous localization and map-assisted environment recognition (SLAMER) method. Mobile robots usually have an environment map and environment information can be assigned to the map. Important information for mobile…
Safe robot navigation is a fundamental research field for autonomous robots including ground mobile robots and flying robots. The primary objective of a safe robot navigation algorithm is to guide an autonomous robot from its initial…
This paper presents a coordination algorithm for mobile autonomous robots. Relying upon distributed sensing the robots achieve rendezvous, that is, they move to a common location. Each robot is a point mass moving in a nonconvex environment…
One of the hardest challenges to face in the development of a non GPS-based localization system for autonomous vehicles is the changes of the environment. LiDAR-based systems typically try to match the last measurements obtained with a…
Full 3D scanning can efficiently be obtained using structured light scanning combined with a rotation stage. In this setting it is, however, necessary to reposition the object and scan it in different poses in order to cover the entire…
This paper presents a localization system for mobile robots enabling precise localization in inaccurate building models. The approach leverages local referencing to counteract inherent deviations between as-planned and as-built data for…
In LiDAR sensing, glass, mirrors and other material often cause inconsistent data readings, because the laser beams may report the distance of the glass, the distance of the object behind the glass or the distance to a reflected object.…
Many works in collaborative robotics and human-robot interaction focuses on identifying and predicting human behaviour while considering the information about the robot itself as given. This can be the case when sensors and the robot are…
Accurate mapping and localization are very important for many industrial robotics applications. In this paper, we propose an improved Signed Distance Function (SDF) for both 2D SLAM and pure localization to improve the accuracy of mapping…
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…
This paper presents an algorithm for indoor layout estimation and reconstruction through the fusion of a sequence of captured images and LiDAR data sets. In the proposed system, a movable platform collects both intensity images and 2D LiDAR…
Many robotics and mapping systems contain multiple sensors to perceive the environment. Extrinsic parameter calibration, the identification of the position and rotation transform between the frames of the different sensors, is critical to…
Simultaneous localization and mapping (SLAM) approaches for mobile robots remains challenging in forest or arboreal fruit farming environments, where tree canopies obstruct Global Navigation Satellite Systems (GNSS) signals. Unlike indoor…
The 3D depth estimation and relative pose estimation problem within a decentralized architecture is a challenging problem that arises in missions that require coordination among multiple vision-controlled robots. The depth estimation…
Path planning for robotic coverage is the task of determining a collision-free robot trajectory that observes all points of interest in an environment. Robots employed for such tasks are often capable of exercising active control over…
Simultaneous localization and mapping, especially the one relying solely on video data (vSLAM), is a challenging problem that has been extensively studied in robotics and computer vision. State-of-the-art vSLAM algorithms are capable of…
This paper presents a fully hardware synchronized mapping robot with support for a hardware synchronized external tracking system, for super-precise timing and localization. Nine high-resolution cameras and two 32-beam 3D Lidars were used…
Global localization of a mobile robot using planar surface segments extracted from depth images is considered. The robot's environment is represented by a topological map consisting of local models, each representing a particular location…