Related papers: Rmagine: 3D Range Sensor Simulation in Polygonal M…
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…
Global localisation from visual data is a challenging problem applicable to many robotics domains. Prior works have shown that neural networks can be trained to map images of an environment to absolute camera pose within that environment,…
Traditional dense volumetric representations for robotic mapping make simplifying assumptions about sensor noise characteristics due to computational constraints. We present a framework that, unlike conventional occupancy grid maps,…
Currently, mobile robots are developing rapidly and are finding numerous applications in the industry. However, several problems remain related to their practical use, such as the need for expensive hardware and high power consumption…
This paper presents a novel multimodal perception system for a real open environment. The proposed system includes an embedded computation platform, cameras, ultrasonic sensors, GPS, and IMU devices. Unlike the traditional frameworks, our…
We present a library to automatically embed signal processing and neural network predictions into the material robots are made of. Deep and shallow neural network models are first trained offline using state-of-the-art machine learning…
Combining multiple sensors enables a robot to maximize its perceptual awareness of environments and enhance its robustness to external disturbance, crucial to robotic navigation. This paper proposes the FusionPortable benchmark, a complete…
Simulators are a critical component of modern robotics research. Strategies for both perception and decision making can be studied in simulation first before deployed to real world systems, saving on time and costs. Despite significant…
With the introduction of Nvidia RTX hardware, ray tracing is now viable as a general real time rendering technique for complex 3D scenes. Leveraging this new technology, we present Raygun, an open source rendering, simulation, and game…
This paper presents a strategy to guide a mobile ground robot equipped with a camera or depth sensor, in order to autonomously map the visible part of a bounded three-dimensional structure. We describe motion planning algorithms that…
The equations of motion governing mobile robots are dependent on terrain properties such as the coefficient of friction, and contact model parameters. Estimating these properties is thus essential for robotic navigation. Ideally any map…
Simulating soft robots in cluttered environments remains an open problem due to the challenge of capturing complex dynamics and interactions with the environment. Furthermore, fast simulation is desired for quickly exploring robot behaviors…
Simultaneous localization and mapping, especially the one relying solely on video data (vSLAM), is a challenging problem that has been extensively studied in robotics and computer vision. State-of-the-art vSLAM algorithms are capable of…
This paper introduces mathematical models of \sensors\ for mobile robots based on visibility. Serving a purpose similar to the pinhole camera model for computer vision, the introduced models are expected to provide a useful, idealized…
RadaRays allows for the accurate modeling and simulation of rotating FMCW radar sensors in complex environments, including the simulation of reflection, refraction, and scattering of radar waves. Our software is able to handle large numbers…
For autonomous navigation and robotic applications, sensing the environment correctly is crucial. Many sensing modalities for this purpose exist. In recent years, one such modality that is being used is in-air imaging sonar. It is ideal in…
As robots become increasingly prominent in diverse industrial settings, the desire for an accessible and reliable system has correspondingly increased. Yet, the task of meaningfully assessing the feasibility of introducing a new robotic…
While there has been significant progress to use simulated data to learn robotic manipulation of rigid objects, applying its success to deformable objects has been hindered by the lack of both deformable object models and realistic…
For mobile robots range sensors are important to perceive the environment. Sensors that can measure in a 3D volume are especially significant for outdoor robotics, because this environment is often highly unstructured. The quality of the…
Two core competencies of a mobile robot are to build a map of the environment and to estimate its own pose on the basis of this map and incoming sensor readings. To account for the uncertainties in this process, one typically employs…