Related papers: Homography matrix based trajectory planning method…
Both, robot and hand-eye calibration haven been object to research for decades. While current approaches manage to precisely and robustly identify the parameters of a robot's kinematic model, they still rely on external devices, such as…
Marking-level high-definition maps (HD maps) are of great significance for autonomous vehicles (AVs), especially in large-scale, appearance-changing scenarios where AVs rely on markings for localization and lanes for safe driving. In this…
Mobile manipulators have been employed in many applications that are traditionally performed by either multiple fixed-base robots or a large robotic system. This capability is enabled by the mobility of the mobile base. However, the mobile…
Autonomous navigation of ground robots on uneven terrain is being considered in more and more tasks. However, uneven terrain will bring two problems to motion planning: how to assess the traversability of the terrain and how to cope with…
In this work, we propose a trajectory generation method for robotic systems with contact force constraint based on optimal control and reachability analysis. Normally, the dynamics and constraints of the contact-constrained robot are…
As an essential part of structure from motion (SfM) and Simultaneous Localization and Mapping (SLAM) systems, motion averaging has been extensively studied in the past years and continues to attract surging research attention. While…
Navigating an arbitrary-shaped ground robot safely in cluttered environments remains a challenging problem. The existing trajectory planners that account for the robot's physical geometry severely suffer from the intractable runtime. To…
This paper presents a Visual Inertial Odometry Landmark-based Simultaneous Localisation and Mapping algorithm based on a distributed block coordinate nonlinear Moving Horizon Estimation scheme. The main advantage of the proposed method is…
State-of-the-art autonomous driving systems rely on high definition (HD) maps for localization and navigation. However, building and maintaining HD maps is time-consuming and expensive. Furthermore, the HD maps assume structured environment…
This paper proposes a probabilistic motion prediction method for long motions. The motion is predicted so that it accomplishes a task from the initial state observed in the given image. While our method evaluates the task achievability by…
Robotic calibration allows for the fusion of data from multiple sensors such as odometers, cameras, etc., by providing appropriate transformational relationships between the corresponding reference frames. For wheeled robots equipped with…
Homography estimation is often an indispensable step in many computer vision tasks. The existing approaches, however, are not robust to illumination and/or larger viewpoint changes. In this paper, we propose bidirectional implicit…
Optimization based motion planning provides a useful modeling framework through various costs and constraints. Using Graph of Convex Sets (GCS) for trajectory optimization gives guarantees of feasibility and optimality by representing…
In this paper we first contribute a large scale online study (N=400) to better understand aesthetic perception of aerial video. The results indicate that it is paramount to optimize smoothness of trajectories across all keyframes. However,…
This paper presents a non-linear optimization method for trajectory planning of tethered aerial robots. Particularly, the paper addresses the planning problem of an unmanned aerial vehicle (UAV) linked to an unmanned ground vehicle (UGV) by…
Unmanned surface vessels (USVs) are widely used in ocean exploration and environmental protection fields. To ensure that USV can successfully perform its mission, trajectory planning and motion tracking are the two most critical…
Surveillance videos and images are used for a broad set of applications, ranging from traffic analysis to crime detection. Extrinsic camera calibration data is important for most analysis applications. However, security cameras are…
This paper introduces BEV-VLM, a novel approach for trajectory planning in autonomous driving that leverages Vision-Language Models (VLMs) with Bird's-Eye View (BEV) feature maps as visual input. Unlike conventional trajectory planning…
Continuum robots with floating bases demonstrate exceptional operational capabilities in confined spaces, such as those encountered in medical surgeries and equipment maintenance. However, developing low-cost solutions for their motion and…
This paper focuses on the motion planning for mobile robots in 3D, which are modelled by 6-DOF rigid body systems with nonholonomic kinematics constraints. We not only specify the target position, but also bring in the requirement of the…