Related papers: Analysis on Multi-robot Relative 6-DOF Pose Estima…
The following paper presents an adaptive anchor pairs selection method for ultra-wideband (UWB) Time Difference of Arrival (TDOA) based positioning systems. The method divides the area covered by the system into several zones and assigns…
Multi-robot localization is a crucial task for implementing multi-robot systems. Numerous researchers have proposed optimization-based multi-robot localization methods that use camera, IMU, and UWB sensors. Nevertheless, characteristics of…
6D pose estimation of textureless objects is a valuable but challenging task for many robotic applications. In this work, we propose a framework to address this challenge using only RGB images acquired from multiple viewpoints. The core…
Ultra-wideband (UWB) technology has shown remarkable potential as a low-cost general solution for robot localization. However, limitations of the UWB signal for precise positioning arise from the disturbances caused by the environment…
Relative localization in the near-field scenario is critically important for unmanned vehicle (UxV) applications. Although related works addressing 2D relative localization problem have been widely studied for unmanned ground vehicles…
In the context of robotics, accurate ground truth positioning is essential for the development of Simultaneous Localization and Mapping (SLAM) and control algorithms. Robotic Total Stations (RTSs) provide accurate and precise reference…
This work proposes a fully decentralized strategy for maintaining the formation rigidity of a multi-robot system using only range measurements, while still allowing the graph topology to change freely over time. In this direction, a first…
Concurrently estimating the 6-DOF pose of multiple cameras or robots---cooperative localization---is a core problem in contemporary robotics. Current works focus on a set of mutually observable world landmarks and often require inbuilt…
Tensegrity robots, which are composed of compressive elements (rods) and flexible tensile elements (e.g., cables), have a variety of advantages, including flexibility, low weight, and resistance to mechanical impact. Nevertheless, the…
Navigation in an unknown environment without any preexisting positioning infrastructure has always been hard for mobile robots. This paper presents a self-deployable ultra wideband UWB infrastructure by mobile agents, that permits a dynamic…
The task of 6DoF object pose estimation is one of the fundamental problems of 3D vision with many practical applications such as industrial automation. Traditional deep learning approaches for this task often require extensive training data…
Accurate localization and tracking are a fundamental requirement for robotic applications. Localization systems like GPS, optical tracking, simultaneous localization and mapping (SLAM) are used for daily life activities, research, and…
The self-localization capability is a crucial component for Unmanned Ground Vehicles (UGV) in farming applications. Approaches based solely on visual cues or on low-cost GPS are easily prone to fail in such scenarios. In this paper, we…
We present a framework for evaluating 6-DoF instance-level object pose estimators, focusing on those that require a single RGB (not RGB-D) image as input. Besides gaining intuition about how accurate these estimators are, we are interested…
Relative pose estimation using point correspondences (PC) is a widely used technique. A minimal configuration of six PCs is required for two views of generalized cameras. In this paper, we present several minimal solvers that use six PCs to…
State estimation is an essential part of autonomous systems. Integrating the Ultra-Wideband(UWB) technique has been shown to correct the long-term estimation drift and bypass the complexity of loop closure detection. However, few works on…
Localization of robots is vital for navigation and path planning, such as in cases where a map of the environment is needed. Ultra-Wideband (UWB) for indoor location systems has been gaining popularity over the years with the introduction…
Radio-based localization systems conventionally require stationary reference points (e.g. anchors) with precisely surveyed positions, making deployment time-consuming and costly. This paper presents an empirical evaluation of collaborative…
The capability to extract task specific, semantic information from raw sensory data is a crucial requirement for many applications of mobile robotics. Autonomous inspection of critical infrastructure with Unmanned Aerial Vehicles (UAVs),…
In object-based Simultaneous Localization and Mapping (SLAM), 6D object poses offer a compact representation of landmark geometry useful for downstream planning and manipulation tasks. However, measurement ambiguity then arises as objects…