Related papers: Multi-LED Classification as Pretext For Robot Head…
The ability of robots to estimate their location is crucial for a wide variety of autonomous operations. In settings where GPS is unavailable, measurements of transmissions from fixed beacons provide an effective means of estimating a…
The position estimation problem based on received power measurements is investigated for visible light systems in the presence of luminous flux degradation of light emitting diodes (LEDs). When the receiver is unaware of this degradation…
In this paper, we first present a method to autonomously detect helipads in real time. Our method does not rely on any machine-learning methods and as such is applicable in real-time on the computational capabilities of an average…
Given a set of $n\geq 1$ unit disk robots in the Euclidean plane, we consider the fundamental problem of providing mutual visibility to them: the robots must reposition themselves to reach a configuration where they all see each other. This…
Humanoid robots without internal sensors such as a compass tend to lose their orientation after a fall. Furthermore, re-initialisation is often ambiguous due to symmetric man-made environments. The room-awareness module proposed here is…
Many model-based Visual Odometry (VO) algorithms have been proposed in the past decade, often restricted to the type of camera optics, or the underlying motion manifold observed. We envision robots to be able to learn and perform these…
We consider the problem of constructing a maximum independent set with mobile myopic luminous robots on a grid network whose size is finite but unknown to the robots. In this setting, the robots enter the grid network one-by-one from a…
We study the use of overlapping and non-overlapping camera layouts in estimating the ego-motion of a moving robot. To estimate the location and orientation of the robot, we investigate using four cameras as non-overlapping individuals, and…
In this work, the problem of 4 degree-of-freedom (3D position and heading) robot-to-robot relative frame transformation estimation using onboard odometry and inter-robot distance measurements is studied. Firstly, we present a theoretical…
Computer vision is used in this work to detect lighting elements in buildings with the goal of improving the accuracy of previous methods to provide a precise inventory of the location and state of lamps. Using the framework developed in…
Vision-based ego-lane inference using High-Definition (HD) maps is essential in autonomous driving and advanced driver assistance systems. The traditional approach necessitates well-calibrated cameras, which confines variation of camera…
For a humanoid robot to make eye contact and initiate communication with a person, it is necessary to estimate the person's head position. However, eye contact becomes difficult due to the mechanical delay of the robot when the person is…
Autonomous vehicles are conceived to provide safe and secure services by validating the safety standards as indicated by SOTIF-ISO/PAS-21448 (Safety of the intended functionality). Keeping in this context, the perception of the environment…
To teach robots skills, it is crucial to obtain data with supervision. Since annotating real world data is time-consuming and expensive, enabling robots to learn in a self-supervised way is important. In this work, we introduce a robot…
This paper presents an approach for visible light communication-based indoor positioning using compressed sensing. We consider a large number of light emitting diodes (LEDs) simultaneously transmitting their positional information and a…
Recent progress in legged locomotion has allowed highly dynamic and parkour-like behaviors for robots, similar to their biological counterparts. Yet, these methods mostly rely on egocentric (first-person) perception, limiting their…
This paper introduces key machine learning operations that allow the realization of robust, joint 6D pose estimation of multiple instances of objects either densely packed or in unstructured piles from RGB-D data. The first objective is to…
Indoor localization is one of the crucial enablers for deployment of service robots. Although several successful techniques for indoor localization have been proposed, the majority of them relies on maps generated from data gathered with…
6D Object pose estimation is a fundamental component in robotics enabling efficient interaction with the environment. It is particularly challenging in bin-picking applications, where many objects are low-feature and reflective, and…
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…