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Accurate motion state estimation of Vulnerable Road Users (VRUs), is a critical requirement for autonomous vehicles that navigate in urban environments. Due to their computational efficiency, many traditional autonomy systems perform…
The paper focuses on the problem of vision-based obstacle detection and tracking for unmanned aerial vehicle navigation. A real-time object localization and tracking strategy from monocular image sequences is developed by effectively…
In the field of sensor fusion and state estimation for object detection and localization, ensuring accurate tracking in dynamic environments poses significant challenges. Traditional methods like the Kalman Filter (KF) often fail when…
We consider the task of underwater robot navigation for the purpose of collecting scientifically relevant video data for environmental monitoring. The majority of field robots that currently perform monitoring tasks in unstructured natural…
Camera-to-robot calibration is crucial for vision-based robot control and requires effort to make it accurate. Recent advancements in markerless pose estimation methods have eliminated the need for time-consuming physical setups for…
Optical cameras are gaining popularity as the suitable sensor for relative navigation in space due to their attractive sizing, power and cost properties when compared to conventional flight hardware or costly laser-based systems. However, a…
This paper studies the problem of detection and tracking of general objects with long-term dynamics, observed by a mobile robot moving in a large environment. A key problem is that due to the environment scale, it can only observe a subset…
Monocular SLAM in deformable scenes will open the way to multiple medical applications like computer-assisted navigation in endoscopy, automatic drug delivery or autonomous robotic surgery. In this paper we propose a novel method to…
Mobile robots require basic information to navigate through an environment: they need to know where they are (localization) and they need to know where they are going. For the latter, robots need a map of the environment. Using sensors of a…
With the increasing awareness of high-quality life, there is a growing need for health monitoring devices running robust algorithms in home environment. Health monitoring technologies enable real-time analysis of users' health status,…
Accurate and efficient tracking of surgical instruments is fundamental for Robot-Assisted Minimally Invasive Surgery. Although vision-based robot pose estimation has enabled markerless calibration without tedious physical setups, reliable…
In this paper, we present a comprehensive investigation of the challenges of Monocular Visual Simultaneous Localization and Mapping (vSLAM) methods for underwater robots. While significant progress has been made in state estimation methods…
Planar object tracking is an actively studied problem in vision-based robotic applications. While several benchmarks have been constructed for evaluating state-of-the-art algorithms, there is a lack of video sequences captured in the wild…
Visually impaired people usually find it hard to travel independently in many public places such as airports and shopping malls due to the problems of obstacle avoidance and guidance to the desired location. Therefore, in the highly dynamic…
Whisker-like touch sensors offer unique advantages for short-range perception in environments where visual and long-range sensing are unreliable, such as confined, cluttered, or low-visibility settings. This paper presents a framework for…
Autonomously navigating a robot in everyday crowded spaces requires solving complex perception and planning challenges. When using only monocular image sensor data as input, classical two-dimensional planning approaches cannot be used.…
Getting robots to navigate to multiple objects autonomously is essential yet difficult in robot applications. One of the key challenges is how to explore environments efficiently with camera sensors only. Existing navigation methods mainly…
The precise and continuous tracking of millimetric-sized walkers --such as ants-- is quite important in behavioral studies. However, due to technical limitations, most studies concentrate on trajectories within arenas no more than 100 times…
Accurate localization is crucial for water robotics, yet traditional onboard Global Navigation Satellite System (GNSS) approaches are difficult or ineffective due to signal reflection on the water's surface and its high cost of aquatic GNSS…
In the context of robotic underwater operations, the visual degradations induced by the medium properties make difficult the exclusive use of cameras for localization purpose. Hence, most localization methods are based on expensive…