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This paper presents an end-to-end radar odometry system which delivers robust, real-time pose estimates based on a learned embedding space free of sensing artefacts and distractor objects. The system deploys a fully differentiable,…
Navigation and guidance of autonomous vehicles is a fundamental problem in robotics, which has attracted intensive research in recent decades. This report is mainly concerned with provable collision avoidance of multiple autonomous vehicles…
This paper presents algorithms to navigate and avoid obstacles for an in-door autonomous mobile robot. A laser range finder is used to obtain 3D images of the environment. A new algorithm, namely 3D-to-2D image pressure and barriers…
This work proposes a novel transformation termed the conformal navigation transformation to achieve collision-free navigation of a robot in a workspace populated with arbitrary polygonal obstacles. The properties of the conformal navigation…
Accurately determining the shape of deformable objects and the location of their internal structures is crucial for medical tasks that require precise targeting, such as robotic biopsies. We introduce LUDO, a method for accurate low-latency…
The field of autonomous driving has grown tremendously over the past few years, along with the rapid progress in sensor technology. One of the major purposes of using sensors is to provide environment perception for vehicle understanding,…
In the rapidly evolving landscape of autonomous mobile robots, the emphasis on seamless human-robot interactions has shifted towards autonomous decision-making. This paper delves into the intricate challenges associated with robotic…
Moving object Detection (MOD) is a critical task in autonomous driving as moving agents around the ego-vehicle need to be accurately detected for safe trajectory planning. It also enables appearance agnostic detection of objects based on…
Radar images of humans and other concealed objects are considerably distorted by attenuation, refraction and multipath clutter in indoor through-wall environments. While several methods have been proposed for removing target independent…
Assistive visual navigation systems for visually impaired individuals have become increasingly popular thanks to the rise of mobile computing. Most of these devices work by translating visual information into voice commands. In complex…
Autonomous agents such as cars, robots and drones need to precisely localize themselves in diverse environments, including in GPS-denied indoor environments. One approach for precise localization is visual place recognition (VPR), which…
Recent advances in neural radiance fields (NeRFs) achieve state-of-the-art novel view synthesis and facilitate dense estimation of scene properties. However, NeRFs often fail for large, unbounded scenes that are captured under very sparse…
Controlling the shape of deformable linear objects using robots and constraints provided by environmental fixtures has diverse industrial applications. In order to establish robust contacts with these fixtures, accurate estimation of the…
Autonomous locomotion for mobile ground robots in unstructured environments such as waypoint navigation or flipper control requires a sufficiently accurate prediction of the robot-terrain interaction. Heuristics like occupancy grids or…
Collision-free motion is often aided by tactile and proximity sensors distributed on the body of the robot due to their resistance to occlusion as opposed to external cameras. However, how to shape the sensor's properties, such as sensing…
The designation of the radar system is to detect the position and velocity of targets around us. The radar transmits a waveform, which is reflected back from the targets, and echo waveform is received. In a commonly used model, the echo is…
Autonomous driving highly depends on capable sensors to perceive the environment and to deliver reliable information to the vehicles' control systems. To increase its robustness, a diversified set of sensors is used, including radar…
Unmanned aerial vehicle (UAV) can provide superior flexibility and cost-efficiency for modern radar imaging systems, which is an ideal platform for advanced remote sensing applications using synthetic aperture radar (SAR) technology. In…
Navigating robots safely and efficiently in crowded and complex environments remains a significant challenge. However, due to the dynamic and intricate nature of these settings, planning efficient and collision-free paths for robots to…
Due to their shorter operating range and large bandwidth, automotive radars can resolve many reflections from their targets of interest, mainly vehicles. This calls for the use of extended-target models in place of simpler and more…