Related papers: 3D Coverage Path Planning for Efficient Constructi…
This article proposes a new path planning method for addressing multi-level terrain situations. The proposed method includes innovations in three aspects: 1) the pre-processing of point cloud maps with a multi-level skip-list structure and…
Recent advancements in Artificial intelligence, especially deep learning, has changed many fields irreversibly by introducing state of the art methods for automation. Construction monitoring has not been an exception; as a part of…
Tracking object poses in 3D is a crucial building block for Augmented Reality applications. We propose an instant motion tracking system that tracks an object's pose in space (represented by its 3D bounding box) in real-time on mobile…
3D mapping in dynamic environments poses a challenge for modern researchers in robotics and autonomous transportation. There are no universal representations for dynamic 3D scenes that incorporate multimodal data such as images, point…
With the rapid advancement of 3D sensing technologies, obtaining 3D shape information of objects has become increasingly convenient. Lidar technology, with its capability to accurately capture the 3D information of objects at long…
This paper presents an effective and reliable pose tracking solution, termed ERPoT, for mobile robots operating in large-scale outdoor and challenging indoor environments, underpinned by an innovative prior polygon map. Especially, to…
We present a new application of model checking which achieves real-time multi-step planning and obstacle avoidance on a real autonomous robot. We have developed a small, purpose-built model checking algorithm which generates plans in situ…
Gathering visual information effectively to monitor known environments is a key challenge in robotics. To be as efficient as human surveyors, robotic systems must continuously collect observational data required to complete their survey…
Recent advancements in robotics have transformed industries such as manufacturing, logistics, surgery, and planetary exploration. A key challenge is developing efficient motion planning algorithms that allow robots to navigate complex…
3D occupancy prediction has recently emerged as a new paradigm for holistic 3D scene understanding and provides valuable information for downstream planning in autonomous driving. Most existing methods, however, are computationally…
Surgical automation has the potential to enable increased precision and reduce the per-patient workload of overburdened human surgeons. An effective automation system must be able to sense and map subsurface anatomy, such as tumors,…
A new path planning method for Mobile Robots (MR) has been developed and implemented. On the one hand, based on the shortest path from the start point to the goal point, this path planner can choose the best moving directions of the MR,…
Simultaneous Localization and Mapping (SLAM) is a key tool for monitoring construction sites, where aligning the evolving as-built state with the as-planned design enables early error detection and reduces costly rework. LiDAR-based SLAM…
In autonomous driving, mapping is critical for motion planning but remains an under-utilized resource for perception tasks such as 3D object detection. Maps can provide robust structural priors of the static environment, helping resolve…
With the proliferation of small aerial vehicles, acquiring close up aerial imagery for high quality reconstruction of complex scenes is gaining importance. We present an adaptive view planning method to collect such images in an automated…
A key aspect of the precision of a mobile robots localization is the quality and aptness of the map it is using. A variety of mapping approaches are available that can be employed to create such maps with varying degrees of effort, hardware…
Monitoring plants and fruits at high resolution play a key role in the future of agriculture. Accurate 3D information can pave the way to a diverse number of robotic applications in agriculture ranging from autonomous harvesting to precise…
Unmanned Aerial Systems (UAS) have gained significant traction for their application in infrastructure inspections. However, considering the enormous scale and complex nature of infrastructure, automation is essential for improving the…
In recent years, 3D object perception has become a crucial component in the development of autonomous driving systems, providing essential environmental awareness. However, as perception tasks in autonomous driving evolve, their variants…
Many-legged elongated robots show promise for reliable mobility on rugged landscapes. However, most studies on these systems focus on planar motion planning without addressing rapid vertical motion. Despite their success on mild rugged…