Related papers: Obstacle avoidance for blind people using a 3D cam…
Autonomous driving is regarded as one of the most promising remedies to shield human beings from severe crashes. To this end, 3D object detection serves as the core basis of perception stack especially for the sake of path planning, motion…
Developing a robust and effective obstacle detection and tracking system for Unmanned Surface Vehicle (USV) at marine environments is a challenging task. Research efforts have been made in this area during the past years by GRAAL lab at the…
We develop an autonomous navigation algorithm for a robot operating in two-dimensional environments cluttered with obstacles having arbitrary convex shapes. The proposed navigation approach relies on a hybrid feedback to guarantee global…
This work describes the process of integrating a depth camera into the navigation system of a self-driving ground vehicle (SDV) and the implementation of a multilayer costmap that enhances the vehicle's obstacle identification process by…
This work introduces a robot navigation controller that combines event cameras and other sensors with reinforcement learning to enable real-time human-centered navigation and obstacle avoidance. Unlike conventional image-based controllers,…
Optical see-through augmented reality (OST-AR) overlays digital targets and annotations on the physical world, offering promising guidance for hands-on tasks such as medical needle insertion or assembly. Recent work on OST-AR depth…
Robust obstacle avoidance is one of the critical steps for successful goal-driven indoor navigation tasks.Due to the obstacle missing in the visual image and the possible missed detection issue, visual image-based obstacle avoidance…
This work addresses the problem of coupling vision-based navigation systems for Unmanned Aerial Vehicles (UAVs) with robust obstacle avoidance capabilities. The former problem is solved by maximizing the visibility of the points of…
Over the past few years, the use of camera-equipped robotic platforms for data collection and visually monitoring applications has exponentially grown. Cluttered construction sites with many objects (e.g., bricks, pipes, etc.) on the ground…
This paper introduces a novel approach that integrates future closest point predictions into the distance constraints of a collision avoidance controller, leveraging convex hulls with closest point distance calculations. By addressing…
This paper represents a cost-effective scene perception system aimed towards visually impaired individual. We use an odroid system integrated with an USB camera and USB laser that can be attached on the chest. The system classifies the…
Motion blur is one of the major challenges remaining for visual odometry methods. In low-light conditions where longer exposure times are necessary, motion blur can appear even for relatively slow camera motions. In this paper we present a…
Outdoor virtual reality (VR) places users in dynamic physical environments where they must remain aware of real-world obstacles, including static structures and moving bystanders, while immersed in a virtual scene. This dual demand…
Urban-oriented autonomous vehicles require a reliable perception technology to tackle the high amount of uncertainties. The recently introduced compact 3D LIDAR sensor offers a surround spatial information that can be exploited to enhance…
Curbs -- the edge of a raised sidewalk at the point where it meets a street -- crucial in urban environments where they help delineate safe pedestrian zones, from dangerous vehicular lanes. However, curbs themselves are significant…
The proposed system aims to be a techno-friend of visually impaired people to assist them in orientation and mobility both indoor and outdoor. Moving through an unknown environment becomes a real challenge for most of them, although they…
Cooperative perception can increase the view field and decrease the occlusion of an ego vehicle, hence improving the perception performance and safety of autonomous driving. Despite the success of previous works on cooperative object…
Outdoor shopping complexes (OSC) are extremely difficult for people with visual impairment to navigate. Existing GPS devices are mostly designed for roadside navigation and seldom transition well into an OSC-like setting. We report our…
Haptic exploration is a key skill for both robots and humans to discriminate and handle unknown objects or to recognize familiar objects. Its active nature is evident in humans who from early on reliably acquire sophisticated sensory-motor…
To navigate in an environment safely and autonomously, robots must accurately estimate where obstacles are and how they move. Instead of using expensive traditional 3D sensors, we explore the use of a much cheaper, faster, and higher…