Related papers: Towards Robust Monocular Visual Odometry for Flyin…
Many model-based Visual Odometry (VO) algorithms have been proposed in the past decade, often restricted to the type of camera optics, or the underlying motion manifold observed. We envision robots to be able to learn and perform these…
Monocular visual odometry consists of the estimation of the position of an agent through images of a single camera, and it is applied in autonomous vehicles, medical robots, and augmented reality. However, monocular systems suffer from the…
This paper presents a novel dense optical-flow algorithm to solve the monocular simultaneous localization and mapping (SLAM) problem for ground or aerial robots. Dense optical flow can effectively provide the ego-motion of the vehicle while…
Fully autonomous mobile robots have a multitude of potential applications, but guaranteeing robust navigation performance remains an open research problem. For many tasks such as repeated infrastructure inspection, item delivery, or…
Highly accurate real-time localization is of fundamental importance for the safety and efficiency of planetary rovers exploring the surface of Mars. Mars rover operations rely on vision-based systems to avoid hazards as well as plan safe…
Recently, 4D millimetre-wave radar exhibits more stable perception ability than LiDAR and camera under adverse conditions (e.g. rain and fog). However, low-quality radar points hinder its application, especially the odometry task that…
Monocular visual navigation methods have seen significant advances in the last decade, recently producing several real-time solutions for autonomously navigating small unmanned aircraft systems without relying on GPS. This is critical for…
Autonomous driving systems are highly dependent on sensors like cameras, LiDAR, and inertial measurement units (IMU) to perceive the environment and estimate their motion. Among these sensors, perception-based sensors are not protected from…
Monocular depth estimation and ego-motion estimation are significant tasks for scene perception and navigation in stable, accurate and efficient robot-assisted endoscopy. To tackle lighting variations and sparse textures in endoscopic…
This paper presents a novel mapping approach for a universal aerial-ground robotic system utilizing a single monocular camera. The proposed system is capable of detecting a diverse range of objects and estimating their positions without…
Monocular visual odometry (VO) is an important task in robotics and computer vision. Thus far, how to build accurate and robust monocular VO systems that can work well in diverse scenarios remains largely unsolved. In this paper, we propose…
Visual odometry techniques typically rely on feature extraction from a sequence of images and subsequent computation of optical flow. This point-to-point correspondence between two consecutive frames can be costly to compute and suffers…
Warehouse logistics robots will work in different warehouse environments. In order to enable robots to perceive environment and plan path faster without modifying existing warehouses, we uses monocular camera to achieve an efficient robot…
The field of autonomous navigation for unmanned ground vehicles (UGVs) is in continuous growth and increasing levels of autonomy have been reached in the last few years. However, the task becomes more challenging when the focus is on the…
Radar odometry is crucial for robust localization in challenging environments; however, the sparsity of reliable returns and distinctive noise characteristics impede its performance. This paper introduces geometrically-constrained…
Accurate 6D object pose estimation is a prerequisite for successfully completing robotic prehensile and non-prehensile manipulation tasks. At present, 6D pose estimation for robotic manipulation generally relies on depth sensors based on,…
The increasing demand for autonomous vehicles has created a need for robust navigation systems that can also operate effectively in adverse weather conditions. Visual odometry is a technique used in these navigation systems, enabling the…
In this work, we propose the use of Ground Penetrating Radar (GPR) for rover localization on Mars. Precise pose estimation is an important task for mobile robots exploring planetary surfaces, as they operate in GPS-denied environments.…
We present a method for image-guided exploration for mobile robotic systems. Our approach extends ergodic exploration methods, a recent exploration approach that prioritizes complete coverage of a space, with the use of a learned image…
Exploration is a fundamental problem in robot autonomy. A major limitation, however, is that during exploration robots oftentimes have to rely on on-board systems alone for state estimation, accumulating significant drift over time in large…