Related papers: Extrinsic calibration for highly accurate trajecto…
Accurate robot kinematics is essential for precise tool placement in articulated robots, but non-geometric factors can introduce configuration-dependent model discrepancies. This paper presents a configuration-dependent kinematic…
The paper proposes a reliable and robust planning solution to the long range robotic navigation problem in extremely cluttered environments. A two-layer planning architecture is proposed that leverages both the environment map and the…
In this paper a new method for geometric robot calibration is introduced, which uses a calibration plate with precisely known distances between its measuring points. The relative measurement between two points on the calibration plate is…
With the widespread application of industrial robots, the problem of absolute positioning accuracy becomes increasingly prominent. To ensure the working state of the robots, researchers commonly adopt calibration techniques to improve its…
Calibrating the extrinsic parameters of sensory devices is crucial for fusing multi-modal data. Recently, event cameras have emerged as a promising type of neuromorphic sensors, with many potential applications in fields such as mobile…
Owing to the capability for reliable and all-weather long-range sensing, the fusion of LiDAR and Radar has been widely applied to autonomous vehicles for robust perception. In practical operation, well manually calibrated extrinsic…
A new 3D localization and mapping techinque with terrain inclination assistance is proposed in this paper to allow a robot to identify its location and build a global map in an outdoor environment. The Iterative Closest Points (ICP)…
Localizing an object accurately with respect to a robot is a key step for autonomous robotic manipulation. In this work, we propose to tackle this task knowing only 3D models of the robot and object in the particular case where the scene is…
Precise markings for drilling and assembly are crucial, laborious construction tasks. Aerial robots with suitable end-effectors are capable of markings at the millimeter scale. However, so far, they have only been demonstrated under…
Range-only (RO) localization involves determining the position of a mobile robot by measuring the distance to specific anchors. RO localization is challenging since the measurements are low-dimensional and a single range sensor does not…
We propose an approach to estimate the 6DOF pose of a satellite, relative to a canonical pose, from a single image. Such a problem is crucial in many space proximity operations, such as docking, debris removal, and inter-spacecraft…
Relative pose estimation is the foundational requirement for multi-robot system, while it is a challenging research topic in infrastructure-free scenes. In this study, we analyze the relative 6-DOF pose estimation error of multi-robot…
In this work, an existing deep neural network approach for determining a robot's pose from visual information (RGB images) is modified, improving its localization performance without impacting its ease of training. Explicitly, the network's…
Despite the widespread deployment of outdoor cameras, their potential for automated analysis remains largely untapped due, in part, to calibration challenges. The absence of precise camera calibration data, including intrinsic and extrinsic…
This paper introduces a novel GPS-aided visual-wheel odometry (GPS-VWO) for ground robots. The state estimation algorithm tightly fuses visual, wheeled encoder and GPS measurements in the way of Multi-State Constraint Kalman Filter (MSCKF).…
The absolute depth values of surrounding environments provide crucial cues for various assistive technologies, such as localization, navigation, and 3D structure estimation. We propose that accurate depth estimated from panoramic images can…
Localization and mapping of an environment are crucial tasks for any robot operating in unstructured environments. Time-of-flight (ToF) sensors (e.g.,~lidar) have proven useful in mobile robotics, where high-resolution sensors can be used…
Solving the camera-to-robot pose is a fundamental requirement for vision-based robot control, and is a process that takes considerable effort and cares to make accurate. Traditional approaches require modification of the robot via markers,…
Laser line scanners are increasingly being used in the subsea industry for high-resolution mapping and infrastructure inspection. However, calibrating the 3D pose of the scanner relative to the vehicle is a perennial source of confusion and…
Multi-robot localization has been a critical problem for robots performing complex tasks cooperatively. In this paper, we propose a decentralized approach to localize a group of robots in a large featureless environment. The proposed…