Related papers: A Flexible Framework for Virtual Omnidirectional V…
Reliable omnidirectional depth estimation from multi-fisheye stereo matching is pivotal to many applications, such as embodied robotics. Existing approaches either rely on spherical sweeping with heuristic fusion strategies to build the…
Multimodal sensor fusion has demonstrated remarkable performance improvements over unimodal approaches in 3D object detection for autonomous vehicles. Typically, existing methods transform multimodal data from independent sensors, such as…
Monocular cameras coupled with inertial measurements generally give high performance visual inertial odometry. However, drift can be significant with long trajectories, especially when the environment is visually challenging. In this paper,…
Surgical navigation provides real-time guidance by estimating the pose of patient anatomy and surgical instruments to visualize relevant intraoperative information. In conventional systems, instruments are typically tracked using fiducial…
In this paper, we present an omnidirectional localization and dense mapping system for a wide-baseline multiview stereo setup with ultra-wide field-of-view (FOV) fisheye cameras, which has a 360 degrees coverage of stereo observations of…
Embodied navigation presents a core challenge for intelligent robots, requiring the comprehension of visual environments, natural language instructions, and autonomous exploration. Existing models often fall short in offering a unified…
State estimation with sensors is essential for mobile robots. Due to different performance of sensors in different environments, how to fuse measurements of various sensors is a problem. In this paper, we propose a tightly coupled…
In autonomous driving, recent research has increasingly focused on collaborative perception based on deep learning to overcome the limitations of individual perception systems. Although these methods achieve high accuracy, they rely on high…
The great flexibility of a view camera allows to take high quality photographs that would not be possible any other way. But making a given object into focus is a long and tedious task, although the underlying laws are well known. This…
Wide field-of-view (FoV) LiDAR sensors provide dense geometry across large environments, but existing LiDAR-inertial-visual odometry (LIVO) systems generally rely on a single camera, limiting their ability to fully exploit LiDAR-derived…
Viewing omnidirectional images (ODIs) in virtual reality (VR) represents a novel form of media that provides immersive experiences for users to navigate and interact with digital content. Nonetheless, this sense of immersion can be greatly…
Autonomous Underwater Vehicles (AUVs) and Remotely Operated Vehicles (ROVs) demand robust spatial perception capabilities, including Simultaneous Localization and Mapping (SLAM), to support both remote and autonomous tasks. Vision-based…
Quest2ROS2 is an open-source ROS2 framework for bi-manual teleoperation designed to scale robot data collection. Extending Quest2ROS, it overcomes workspace limitations via relative motion-based control, calculating robot movement from VR…
A recent sensor fusion in a Bird's Eye View (BEV) space has shown its utility in various tasks such as 3D detection, map segmentation, etc. However, the approach struggles with inaccurate camera BEV estimation, and a perception of distant…
In this paper, we propose a novel network framework for indoor 3D object detection to handle variable input frame numbers in practical scenarios. Existing methods only consider fixed frames of input data for a single detector, such as…
One of the major challenges of a real-time autonomous robotic system for construction monitoring is to simultaneously localize, map, and navigate over the lifetime of the robot, with little or no human intervention. Past research on…
Spatial synchronization in roadside scenarios is essential for integrating data from multiple sensors at different locations. Current methods using cascading spatial transformation (CST) often lead to cumulative errors in large-scale…
The basis for most vision based applications like robotics, self-driving cars and potentially augmented and virtual reality is a robust, continuous estimation of the position and orientation of a camera system w.r.t the observed environment…
This paper presents an adaptive visual servoing framework for robotic on-orbit servicing (OOS), specifically designed for capturing tumbling satellites. The vision-guided robotic system is capable of selecting optimal control actions in the…
A guiding robot aims to effectively bring people to and from specific places within environments that are possibly unknown to them. During this operation the robot should be able to detect and track the accompanied person, trying never to…