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Dynamic obstacle avoidance is one crucial component for compliant navigation in crowded environments. In this paper we present a system for accurate and reliable detection and tracking of dynamic objects using noisy point cloud data…
Majority of the existing robot navigation systems, which facilitate the use of laser range finders, sonar sensors or artificial landmarks, has the ability to locate itself in an unknown environment and then build a map of the corresponding…
We present a fully autonomous real-world RL framework for mobile manipulation that can learn policies without extensive instrumentation or human supervision. This is enabled by 1) task-relevant autonomy, which guides exploration towards…
Enhancing robot navigation efficiency is a crucial objective in modern robotics. Robots relying on external navigation systems are often susceptible to electromagnetic interference (EMI) and encounter environmental disturbances, resulting…
Indoor positioning systems (IPSs) have gained attention as outdoor navigation becomes prevalent in everyday life. Research is being actively conducted on how indoor smartphone navigation can be accomplished and improved using received…
Passive methods for object detection and segmentation treat images of the same scene as individual samples and do not exploit object permanence across multiple views. Generalization to novel or difficult viewpoints thus requires additional…
Selection of appropriate tools and use of them when performing daily tasks is a critical function for introducing robots for domestic applications. In previous studies, however, adaptability to target objects was limited, making it…
Robots in the construction industry can reduce costs through constant monitoring of the work progress, using high precision data capturing. Accurate data capturing requires precise localization of the mobile robot within the environment. In…
The increasingly wide usage of location aware sensors has made it possible to collect large volume of trajectory data in diverse application domains. Machine learning allows to study the activities or behaviours of moving objects (e.g.,…
We present an approach for visualizing mobile robots through an Augmented Reality headset when there is no line-of-sight visibility between the robot and the human. Three elements are visualized in Augmented Reality: 1) Robot's 3D model to…
To achieve collaborative tasks, robots in a team need to have a shared understanding of the environment and their location within it. Distributed Simultaneous Localization and Mapping (SLAM) offers a practical solution to localize the…
Inertial sensors are widely used in a variety of applications. A common task is orientation estimation. To tackle such a task, attitude and heading reference system algorithms are applied. Relying on the gyroscope readings, the…
It is important for daily life support robots to detect changes in their environment and perform tasks. In the field of anomaly detection in computer vision, probabilistic and deep learning methods have been used to calculate the image…
Global positioning systems can provide sufficient positioning accuracy for large scale robotic tasks in open environments. However, in underwater environments, these systems cannot be directly used, and measuring the position of underwater…
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 is an important problem with the the applications in many aspects, such as video games, robotics etc. This paper proposes a novel method to address the problem of Deep Reinforcement Learning (DRL) based path planning for a…
Localization is a key requirement for mobile robot autonomy and human-robot interaction. Vision-based localization is accurate and flexible, however, it incurs a high computational burden which limits its application on many…
Despite the number of works published in recent years, vehicle localization remains an open, challenging problem. While map-based localization and SLAM algorithms are getting better and better, they remain a single point of failure in…
Autonomous aerial robots are increasingly being deployed in real-world scenarios, where transparent glass obstacles present significant challenges to reliable navigation. Researchers have investigated the use of non-contact sensors and…
We propose a tool-use model that can detect the features of tools, target objects, and actions from the provided effects of object manipulation. We construct a model that enables robots to manipulate objects with tools, using infant…