Related papers: A Neuromorphic Vision-Based Measurement for Robust…
To autonomously navigate in real-world environments, special in search and rescue operations, Unmanned Aerial Vehicles (UAVs) necessitate comprehensive maps to ensure safety. However, the prevalent metric map often lacks semantic…
This paper deals with the simultaneous estimation of the attitude, position and linear velocity for vision-aided inertial navigation systems. We propose a nonlinear observer on $SO(3)\times \mathbb{R}^{15}$ relying on body-frame…
In modern battlefield scenarios, the reliance on GPS for navigation can be a critical vulnerability. Adversaries often employ tactics to deny or deceive GPS signals, necessitating alternative methods for the localization and navigation of…
We propose an autonomous exploration algorithm designed for decentralized multi-robot teams, which takes into account map and localization uncertainties of range-sensing mobile robots. Virtual landmarks are used to quantify the combined…
While anomaly detection stands among the most important and valuable problems across many scientific domains, anomaly detection research often focuses on AI methods that can lack the nuance and interpretability so critical to conducting…
Compared to abstract features, significant objects, so-called landmarks, are a more natural means for vehicle localization and navigation, especially in challenging unstructured environments. The major challenge is to recognize landmarks in…
Accurate and robust global localization is essential to robotics applications. We propose a novel global localization method that employs the map traversability as a hidden observation. The resulting map-corrected odometry localization is…
Visual odometry and Simultaneous Localization And Mapping (SLAM) has been studied as one of the most important tasks in the areas of computer vision and robotics, to contribute to autonomous navigation and augmented reality systems. In case…
Mars exploration requires precise and reliable terrain models to ensure safe rover navigation across its unpredictable and often hazardous landscapes. Stereoscopic vision serves a critical role in the rover's perception, allowing scene…
Many robotic tasks rely on the accurate localization of moving objects within a given workspace. This information about the objects' poses and velocities are used for control,motion planning, navigation, interaction with the environment or…
We present an online landmark selection method for distributed long-term visual localization systems in bandwidth-constrained environments. Sharing a common map for online localization provides a fleet of au- tonomous vehicles with the…
This paper investigates the estimation problem of the pose (orientation and position) and linear velocity of a rigid body, as well as the landmark positions, using an inertial measurement unit (IMU) and a monocular camera. First, we propose…
Human visual scene understanding is so remarkable that we are able to recognize a revisited place when entering it from the opposite direction it was first visited, even in the presence of extreme variations in appearance. This capability…
Robot mobility is critical for mission success, especially in soft or deformable terrains, where the complex wheel-soil interaction mechanics often leads to excessive wheel slip and sinkage, causing the eventual mission failure. To improve…
Vision-based localization approaches now underpin newly emerging navigation pipelines for myriad use cases from robotics to assistive technologies. Compared to sensor-based solutions, vision-based localization does not require pre-installed…
We present an approach to enhance wheeled planetary rover dead-reckoning localization performance by leveraging the use of zero-type constraint equations in the navigation filter. Without external aiding, inertial navigation solutions…
Active 3D reconstruction of moving objects requires selecting informative viewpoints while accounting for object motion uncertainty during the decision-to-execution delay. Existing methods address only parts of this problem: next-best-view…
Geometric navigation is nowadays a well-established field of robotics and the research focus is shifting towards higher-level scene understanding, such as Semantic Mapping. When a robot needs to interact with its environment, it must be…
Running numerous experiments in simulation is a necessary step before deploying a control system on a real robot. In this paper we introduce a novel benchmark that is aimed at quantitatively evaluating the quality of vision-based…
A Neural Network-based method for unsupervised landmarks map estimation from measurements taken from landmarks is introduced. The measurements needed for training the network are the signals observed/received from landmarks by an agent. The…