Related papers: LIVE: Lidar Informed Visual Search for Multiple Ob…

Reliable dynamic object detection in cluttered environments remains a critical challenge for autonomous navigation. Purely geometric LiDAR pipelines that rely on clustering and heuristic filtering can miss dynamic obstacles when they move…

In robotic applications, the control, and actuation deal with a continuous description of the system and environment, while high-level planning usually works with a discrete description. This paper considers the problem of bridging the…

Human detection and tracking is an essential task for service robots, where the combined use of multiple sensors has potential advantages that are yet to be exploited. In this paper, we introduce a framework allowing a robot to learn a new…

Consecutive frames in a video contain redundancy, but they may also contain relevant complementary information for the detection task. The objective of our work is to leverage this complementary information to improve detection. Therefore,…

Robust autonomous navigation in environments with limited visibility remains a critical challenge in robotics. We present a novel approach that leverages Non-Line-of-Sight (NLOS) sensing using single-photon LiDAR to improve visibility and…

Legged robots, particularly quadrupeds, offer promising navigation capabilities, especially in scenarios requiring traversal over diverse terrains and obstacle avoidance. This paper addresses the challenge of enabling legged robots to…

As object detectors rapidly improve, attention has expanded past image-only networks to include a range of 3D and multimodal frameworks, especially ones that incorporate LiDAR. However, due to cost, logistics, and even some safety…

Lidar has become an essential sensor for autonomous driving as it provides reliable depth estimation. Lidar is also the primary sensor used in building 3D maps which can be used even in the case of low-cost systems which do not use Lidar.…

This paper explores the use of 3D lidar in a physical Human-Robot Interaction (pHRI) scenario. To achieve the aforementioned, experiments were conducted to mimic a modern shop-floor environment. Data was collected from a pool of seventeen…

The Multi-Object Search (MOS) problem involves navigating to a sequence of locations to maximize the likelihood of finding target objects while minimizing travel costs. In this paper, we introduce a novel approach to the MOS problem, called…

Trajectory replanning is a critical problem for multi-robot teams navigating dynamic environments. We present RLSS (Replanning using Linear Spatial Separations): a real-time trajectory replanning algorithm for cooperative multi-robot teams…

To achieve accurate and robust pose estimation in Simultaneous Localization and Mapping (SLAM) task, multi-sensor fusion is proven to be an effective solution and thus provides great potential in robotic applications. This paper proposes…

This paper proposes FAST-LIVO2: a fast, direct LiDAR-inertial-visual odometry framework to achieve accurate and robust state estimation in SLAM tasks and provide great potential in real-time, onboard robotic applications. FAST-LIVO2 fuses…

A new robust and accurate approach for the detection and localization of flying objects with the purpose of highly dynamic aerial interception and agile multi-robot interaction is presented in this paper. The approach is proposed for use on…

Mobile robots that navigate in unknown environments need to be constantly aware of the dynamic objects in their surroundings for mapping, localization, and planning. It is key to reason about moving objects in the current observation and at…

In this letter we investigate a tightly coupled Lidar-Inertia Odometry and Mapping (LIOM) scheme, with the capability to incorporate multiple lidars with complementary field of view (FOV). In essence, we devise a time-synchronized scheme to…

Radar as a remote sensing technology has been used to analyze human activity for decades. Despite all the great features such as motion sensitivity, privacy preservation, penetrability, and more, radar has limited spatial degrees of freedom…

With the recent advances in autonomous driving and the decreasing cost of LiDARs, the use of multimodal sensor systems is on the rise. However, in order to make use of the information provided by a variety of complimentary sensors, it is…

Object detection is a core component of perception systems, providing the ego vehicle with information about its surroundings to ensure safe route planning. While cameras and Lidar have significantly advanced perception systems, their…

We propose a scene-level inverse rendering framework that uses multi-view images to decompose the scene into geometry, a SVBRDF, and 3D spatially-varying lighting. Because multi-view images provide a variety of information about the scene,…