Related papers: A Decentralized Cooperative Navigation Approach fo…
Accurate location information is indispensable for the emerging applications of \ac{iov}, such as automatic driving and formation control. In the real scenario, vision-based localization has demonstrated superior performance to other…
Visual navigation in unknown environments based solely on natural language descriptions is a key capability for intelligent robots. In this work, we propose a navigation framework built upon off-the-shelf Visual Language Models (VLMs),…
Robust and accurate planar tracking over a whole video sequence is vitally important for many vision applications. The key to planar object tracking is to find object correspondences, modeled by homography, between the reference image and…
Over the last years, social robots have been deployed in public environments making evident the need of human-aware navigation capabilities. In this regard, the robotics community have made efforts to include proxemics or social conventions…
We present Visual Navigation and Locomotion over obstacles (ViNL), which enables a quadrupedal robot to navigate unseen apartments while stepping over small obstacles that lie in its path (e.g., shoes, toys, cables), similar to how humans…
Human-Robot-Collaboration can enhance workflows by leveraging the mutual strengths of human operators and robots. Planning and understanding robot movements remain major challenges in this domain. This problem is prevalent in dynamic…
In this paper, we examine the problem of visibility-aware robot navigation among movable obstacles (VANAMO). A variant of the well-known NAMO robotic planning problem, VANAMO puts additional visibility constraints on robot motion and object…
Visual navigation models based on deep learning can learn effective policies when trained on large amounts of visual observations through reinforcement learning. Unfortunately, collecting the required experience in the real world requires…
Insects have long been recognized for their ability to navigate and return home using visual cues from their nest's environment. However, the precise mechanism underlying this remarkable homing skill remains a subject of ongoing…
$ $Visual place recognition is challenging, especially when only a few place exemplars are given. To mitigate the challenge, we consider place recognition method using omnidirectional cameras and propose a novel Omnidirectional…
Visual search of relevant targets in the environment is a crucial robot skill. We propose a preliminary framework for the execution monitor of a robot task, taking care of the robot attitude to visually searching the environment for targets…
The use of a team of humanoid robots to collaborate in completing a task is an increasingly important field of research. One of the challenges in achieving collaboration, is mutual identification and tracking of the robots. This work…
With the recent development of localization and tracking systems for both indoor and outdoor settings, we consider the problem of sensing, representing and analyzing human movement trajectories that we expect to gather in the near future.…
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…
Vision sensors are extensively used for localizing a robot's pose, particularly in environments where global localization tools such as GPS or motion capture systems are unavailable. In many visual navigation systems, localization is…
We consider the problem of building an assistive robotic system that can help humans in daily household cleanup tasks. Creating such an autonomous system in real-world environments is inherently quite challenging, as a general solution may…
Visual topological navigation has been revitalized recently thanks to the advancement of deep learning that substantially improves robot perception. However, the scalability and reliability issue remain challenging due to the complexity and…
This paper presents HoughNet, a one-stage, anchor-free, voting-based, bottom-up object detection method. Inspired by the Generalized Hough Transform, HoughNet determines the presence of an object at a certain location by the sum of the…
A group of wheeled robots with nonholonomic constraints is considered to rendezvous at a common specified setpoint with a desired orientation while maintaining network connectivity and ensuring collision avoidance within the robots. Given…
Hand-drawn maps can be used to convey navigation instructions between humans and robots in a natural and efficient manner. However, these maps can often contain inaccuracies such as scale distortions and missing landmarks which present…