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Detection and recognition of staircase as upstairs, downstairs and negative (e.g., ladder) are the fundamental of assisting the visually impaired to travel independently in unfamiliar environments. Previous researches have focused on using…
Segmentation-based autonomous navigation has recently been proposed as a promising methodology to guide robotic platforms through crop rows without requiring precise GPS localization. However, existing methods are limited to scenarios where…
SLAM based techniques are often adopted for solving the navigation problem for the drones in GPS denied environment. Despite the widespread success of these approaches, they have not yet been fully exploited for automation in a warehouse…
Rapid sampling from the environment to acquire available frontier points and timely incorporating them into subsequent planning to reduce fragmented regions are critical to improve the efficiency of autonomous exploration. We propose HPHS,…
In robotic applications, we often face the challenge of discovering new objects while having very little or no labelled training data. In this paper we explore the use of self-supervision provided by a robot traversing an environment to…
Indoor positioning systems (IPSs) have gained attention as outdoor navigation becomes prevalent in everyday life. Research is being actively conducted on how indoor smartphone navigation can be accomplished and improved using received…
In the field of gas pipeline location, existing pipeline location methods mostly rely on pipeline location instruments. However, when faced with complex and curved pipeline scenarios, these methods often fail due to problems such as cable…
Skyline plays a pivotal role in mountainous visual geo-localization and localization/navigation of planetary rovers/UAVs and virtual/augmented reality applications. We present a novel mountainous skyline detection approach where we adapt a…
This study aims to analyze the benefits of improved multi-scale reasoning for object detection and localization with deep convolutional neural networks. To that end, an efficient and general object detection framework which operates on…
State-of-the-art detection systems are generally evaluated on their ability to exhaustively retrieve objects densely distributed in the image, across a wide variety of appearances and semantic categories. Orthogonal to this, many real-life…
Inspecting petrochemical pipelines is challenging due to hazardous materials, narrow diameters, and inaccessible locations. Mobile robots are promising for autonomous pipeline inspection and mapping. This project aimed to simulate and…
At present, object recognition studies are mostly conducted in a closed lab setting with classes in test phase typically in training phase. However, real-world problem is far more challenging because: i) new classes unseen in the training…
Quadruped robots are used for primary searches during the early stages of indoor fires. A typical primary search involves quickly and thoroughly looking for victims under hazardous conditions and monitoring flammable materials. However,…
LiDAR-based localization and mapping is one of the core components in many modern robotic systems due to the direct integration of range and geometry, allowing for precise motion estimation and generation of high quality maps in real-time.…
Visual obstacle discovery is a key step towards autonomous navigation of indoor mobile robots. Successful solutions have many applications in multiple scenes. One of the exceptions is the reflective ground. In this case, the reflections on…
Autonomous robots frequently need to detect "interesting" scenes to decide on further exploration, or to decide which data to share for cooperation. These scenarios often require fast deployment with little or no training data. Prior work…
Local feature matching enjoys wide-ranging applications in the realm of computer vision, encompassing domains such as image retrieval, 3D reconstruction, and object recognition. However, challenges persist in improving the accuracy and…
Identifying the environment's structure, i.e., to detect core components as rooms and walls, can facilitate several tasks fundamental for the successful operation of indoor autonomous mobile robots, including semantic environment…
Recently, biped robot walking technology has been significantly developed, mainly in the context of a bland walking scheme. To emulate human walking, robots need to step on the positions they see in unknown spaces accurately. In this paper,…
In recent years, there has been a rapid increase in the number of service robots deployed for aiding people in their daily activities. Unfortunately, most of these robots require human input for training in order to do tasks in indoor…