Related papers: Robot Localization using Situational Graphs and Bu…
Localization is the challenge of determining the robot's pose in a mapped environment. This is done by implementing a probabilistic algorithm to filter noisy sensor measurements and track the robot's position and orientation. This paper…
Navigation signs and maps, such as floor plans and street maps, are widely available and serve as ubiquitous aids for way-finding in human environments. Yet, they are rarely used by robot systems. This paper presents SignLoc, a global…
Mobile robots require basic information to navigate through an environment: they need to know where they are (localization) and they need to know where they are going. For the latter, robots need a map of the environment. Using sensors of a…
Robust localization in a given map is a crucial component of most autonomous robots. In this paper, we address the problem of localizing in an indoor environment that changes and where prominent structures have no correspondence in the map…
Scene graphs enhance 3D mapping capabilities in robotics by understanding the relationships between different spatial elements, such as rooms and objects. Recent research extends scene graphs to hierarchical layers, adding and leveraging…
The operational environments in which a mobile robot executes its missions often exhibit non-flat terrain characteristics, encompassing outdoor and indoor settings featuring ramps and slopes. In such scenarios, the conventional…
Globally localizing a mobile robot in a known map is often a foundation for enabling robots to navigate and operate autonomously. In indoor environments, traditional Monte Carlo localization based on occupancy grid maps is considered the…
In this paper, we propose a general graph optimization based framework for localization, which can accommodate different types of measurements with varying measurement time intervals. Special emphasis will be on range-based localization.…
LiDAR-based localization and mapping is one of the core components in many modern robotic systems due to the direct integration of range and geometry, allowing for precise motion estimation and generation of high quality maps in real-time.…
Localization in already mapped environments is a critical component in many robotics and automotive applications, where previously acquired information can be exploited along with sensor fusion to provide robust and accurate localization…
With the increase in the availability of Building Information Models (BIM) and (semi-) automatic tools to generate BIM from point clouds, we propose a world model architecture and algorithms to allow the use of the semantic and geometric…
Localization, that is the estimation of a robot's location from sensor data, is a fundamental problem in mobile robotics. This papers presents a version of Markov localization which provides accurate position estimates and which is tailored…
Mobile robots rely on maps to navigate through an environment. In the absence of any map, the robots must build the map online from partial observations as they move in the environment. Traditional methods build a map using only direct…
Robot localization is a one of the most important problems in robotics. Most of the existing approaches assume that the map of the environment is available beforehand and focus on accurate metrical localization. In this paper, we address…
Place recognition is a key module in robotic navigation. The existing line of studies mostly focuses on visual place recognition to recognize previously visited places solely based on their appearance. In this paper, we address structural…
Visual localization and mapping is a crucial capability to address many challenges in mobile robotics. It constitutes a robust, accurate and cost-effective approach for local and global pose estimation within prior maps. Yet, in highly…
Autonomous robotic inspection, where a robot moves through its environment and inspects points of interest, has applications in industrial settings, structural health monitoring, and medicine. Planning the paths for a robot to safely and…
Visual robot navigation within large-scale, semi-structured environments deals with various challenges such as computation intensive path planning algorithms or insufficient knowledge about traversable spaces. Moreover, many…
In this paper, we present a framework for self-localization of parking robots in a parking lot innovatively using square-like landmarks, aiming to provide a positioning solution with low cost but high accuracy. It utilizes square structures…
When performing manipulation-based activities such as picking objects, a mobile robot needs to position its base at a location that supports successful execution. To address this problem, prominent approaches typically rely on costly grasp…