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Place recognition plays an important role in achieving robust long-term autonomy. Real-world robots face a wide range of weather conditions (e.g. overcast, heavy rain, and snowing) and most sensors (i.e. camera, LiDAR) essentially…
Autonomous navigation systems based on computer vision sensors often require sophisticated robotics platforms which are very expensive. This poses a barrier for the implementation and testing of complex localization, mapping, and navigation…
This paper presents a vision-based methodology which makes use of a stereo camera rig and a one dimension LiDAR to estimate free obstacle areas for quadrotor navigation. The presented approach fuses information provided by a depth map from…
The ability to detect pedestrians and other moving objects is crucial for an autonomous vehicle. This must be done in real-time with minimum system overhead. This paper discusses the implementation of a surround view system to identify…
LiDAR Odometry and Mapping (LOAM) is a pivotal technique for embodied-AI applications such as autonomous driving and robot navigation. Most existing LOAM frameworks are either contingent on the supervision signal, or lack of the…
The spatial sensitivity pattern of millimeter-wavelength receivers is an important diagnostic of performance and is affected by the alignment of coupling optics. Characterization can be challenging in the field, particularly in the…
6D object pose tracking has been extensively studied in the robotics and computer vision communities. The most promising solutions, leveraging on deep neural networks and/or filtering and optimization, exhibit notable performance on…
Under the sea, visible spectrum cameras have limited sensing capacity, being able to detect objects only in clear water, but in a constrained range. Considering any sea water condition, sonars are more suitable to support autonomous…
Trash deposits in aquatic environments have a destructive effect on marine ecosystems and pose a long-term economic and environmental threat. Autonomous underwater vehicles (AUVs) could very well contribute to the solution of this problem…
This paper presents an experimental measurement platform for the research and development of unmanned aerial vehicles (UAVs) localization algorithms using radio emission and reflectivity. We propose a cost-effective, flexible testbed made…
The global positioning system (GPS) has become an indispensable navigation method for field operations with unmanned surface vehicles (USVs) in marine environments. However, GPS may not always be available outdoors because it is vulnerable…
Exploration and mapping of unknown environments is a fundamental task in applications for autonomous robots. In this article, we present a complete framework for deploying MAVs in autonomous exploration missions in unknown subterranean…
In this paper, we propose a method to determine the 3D relative pose of pairs of communicating robots by using human pose-based key-points as correspondences. We adopt a 'leader-follower' framework, where at first, the leader robot visually…
Consistent localization of cooperative multi-robot systems during navigation presents substantial challenges. This paper proposes a fault-tolerant, multi-modal localization framework for multi-robot systems on matrix Lie groups. We…
Extended Kalman filtering is a common approach to achieve floating base estimation of a humanoid robot. These filters rely on measurements from an Inertial Measurement Unit (IMU) and relative forward kinematics for estimating the base…
This letter presents a cooperative relative multi-robot localization design and experimental study. We propose a flexible Monte Carlo approach leveraging a particle filter to estimate relative states. The estimation can be based on…
Nowadays underwater vision systems are being widely applied in ocean research. However, the largest portion of the ocean - the deep sea - still remains mostly unexplored. Only relatively few image sets have been taken from the deep sea due…
The purpose of this paper is to explore a new way of autonomous mapping. Current systems using perception techniques like LAZER or SONAR use probabilistic methods and have a drawback of allowing considerable uncertainty in the mapping…
This paper presents a mixed-reality human-robot teaming system. It allows human operators to see in real-time where robots are located, even if they are not in line of sight. The operator can also visualize the map that the robots create of…
Due to the enormous technological improvements obtained in the last decades it is possible to use robotic vehicles for underwater exploration. This work describes the development of a dynamic positioning system for remotely operated…