Related papers: Robust 3D Vision for Autonomous Robots
This paper presents a neural network-based Unscented Kalman Filter (UKF) to estimate and track the pose (i.e., position and orientation) of a known, noncooperative, tumbling target spacecraft in a close-proximity rendezvous scenario. The…
Many interventional surgical procedures rely on medical imaging to visualise and track instruments. Such imaging methods not only need to be real-time capable, but also provide accurate and robust positional information. In ultrasound…
This paper proposes a novel active visuo-tactile based methodology wherein the accurate estimation of the time-invariant SE(3) pose of objects is considered for autonomous robotic manipulators. The robot equipped with tactile sensors on the…
We present DynamicPose, a retraining-free 6D pose tracking framework that improves tracking robustness in fast-moving camera and object scenarios. Previous work is mainly applicable to static or quasi-static scenes, and its performance…
Image-Based Visual Servoing (IBVS) provides an efficient vision-guided control paradigm for unmanned aerial vehicles (UAVs) by directly regulating image-space errors. However, conventional IBVS controllers are vulnerable to two critical…
This paper presents a vision-based methodology which makes use of a stereo camera rig and a one dimension LiDAR to estimate free obstacle areas for quadrotor navigation. The presented approach fuses information provided by a depth map from…
We present a model predictive controller (MPC) that automatically discovers collision-free locomotion while simultaneously taking into account the system dynamics, friction constraints, and kinematic limitations. A relaxed barrier function…
This work addresses the critical lack of precision in state estimation in the Kalman filter for 3D multi-object tracking (MOT) and the ongoing challenge of selecting the appropriate motion model. Existing literature commonly relies on…
Modern robotic systems are required to operate in challenging environments, which demand reliable localization under challenging conditions. LiDAR-based localization methods, such as the Iterative Closest Point (ICP) algorithm, can suffer…
Autonomous landing on a moving platform presents unique challenges for multirotor vehicles, including the need to accurately localize the platform, fast trajectory planning, and precise/robust control. Previous works studied this problem…
Collaborative 3D object detection exploits information exchange among multiple agents to enhance accuracy of object detection in presence of sensor impairments such as occlusion. However, in practice, pose estimation errors due to imperfect…
Robotic automation has transformed scientific workflows in domains such as chemistry and materials science, yet free-space optics, which is a high precision domain, remains largely manual. Optical systems impose strict spatial and angular…
Accurate perception of dynamic obstacles is essential for autonomous robot navigation in indoor environments. Although sophisticated 3D object detection and tracking methods have been investigated and developed thoroughly in the fields of…
Spaceborne gravity gradients are proposed in this paper to provide autonomous orbit determination capabilities for near Earth satellites. The gravity gradients contain useful position information which can be extracted by matching the…
This article presents a 3D point cloud map-merging framework for egocentric heterogeneous multi-robot exploration, based on overlap detection and alignment, that is independent of a manual initial guess or prior knowledge of the robots'…
The design of navigation observers able to simultaneously estimate the position, linear velocity and orientation of a vehicle in a three-dimensional space is crucial in many robotics and aerospace applications. This problem was mainly dealt…
Mutual localization plays a crucial role in multi-robot cooperation. CREPES, a novel system that focuses on six degrees of freedom (DOF) relative pose estimation for multi-robot systems, is proposed in this paper. CREPES has a compact…
This work develops a learning-based contact estimator for legged robots that bypasses the need for physical sensors and takes multi-modal proprioceptive sensory data as input. Unlike vision-based state estimators, proprioceptive state…
A cooperative circumnavigation framework is proposed for multi-quadrotor systems to enclose and track a moving target without reliance on external localization systems. The distinct relationships between quadrotor-quadrotor and…
This document presents the study of the problem of location and trajectory that a robot must follow. It focuses on applying the Kalman filter to achieve location and trajectory estimation in an autonomous mobile differential robot. The…