Related papers: MorphoNavi: Aerial-Ground Robot Navigation with Ob…
Online multi-object tracking (MOT) is extremely important for high-level spatial reasoning and path planning for autonomous and highly-automated vehicles. In this paper, we present a modular framework for tracking multiple objects…
We propose a framework that allows a mobile robot to build a map of an indoor scenario, identifying and highlighting objects that may be considered a hindrance to people with limited mobility. The map is built by combining recent…
Ground robots always get collision in that only if they get close to the obstacles, can they sense the danger and take actions, which is usually too late to avoid the crash, causing severe damage to the robots. To address this issue, we…
Most applications in autonomous navigation using mounted cameras rely on the construction and processing of geometric 3D point clouds, which is an expensive process. However, there is another simpler way to make a space navigable quickly:…
The field of collaborative robotics and human-robot interaction often focuses on the prediction of human behaviour, while assuming the information about the robot setup and configuration being known. This is often the case with fixed…
In this paper, we present BirdSLAM, a novel simultaneous localization and mapping (SLAM) system for the challenging scenario of autonomous driving platforms equipped with only a monocular camera. BirdSLAM tackles challenges faced by other…
Determining the relative position and orientation of objects in an environment is a fundamental building block for a wide range of robotics applications. To accomplish this task efficiently in practical settings, a method must be fast, use…
The integration of Automated Delivery Robots (ADRs) into pedestrian-heavy urban spaces introduces unique challenges in terms of safe, efficient, and socially acceptable navigation. We develop the complete pipeline for a single vision sensor…
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…
Efficient target localization and autonomous navigation in complex environments are fundamental to real-world embodied applications. While recent advances in multimodal foundation models have enabled zero-shot object goal navigation,…
We propose a learning-based method that solves monocular stereo and can be extended to fuse depth information from multiple target frames. Given two unconstrained images from a monocular camera with known intrinsic calibration, our network…
City administrations increasingly rely on comprehensive databases and urban digital twins of city assets, such as traffic signs and trees, as well as incidents like graffiti or road damage, to maintain an effective overview of urban…
This work contributes a marsupial robotic system-of-systems involving a legged and an aerial robot capable of collaborative mapping and exploration path planning that exploits the heterogeneous properties of the two systems and the ability…
Ego-motion estimation is vital for drones when flying in GPS-denied environments. Vision-based methods struggle when flight speed increases and close-by objects lead to difficult visual conditions with considerable motion blur and large…
This paper presents an autonomous navigation system for ground robots traversing aggressive unstructured terrain through a cohesive arrangement of mapping, deliberative planning and reactive behaviour modules. All systems are aware of…
This paper presents a real-time trajectory planning scheme for a heterogeneous multi-robot system (consisting of a quadrotor and a ground mobile robot) for a cooperative landing task, where the landing position, landing time, and…
In this paper, we focus on the multi-object tracking (MOT) problem of automatic driving and robot navigation. Most existing MOT methods track multiple objects using a singular RGB camera, which are prone to camera field-of-view and suffer…
Monocular 3D object detection (Mono3D) in mobile settings (e.g., on a vehicle, a drone, or a robot) is an important yet challenging task. Due to the near-far disparity phenomenon of monocular vision and the ever-changing camera pose, it is…
In the context of robotic underwater operations, the visual degradations induced by the medium properties make difficult the exclusive use of cameras for localization purpose. Hence, most localization methods are based on expensive…
Robots often use feature-based image tracking to identify their position in their surrounding environment; however, feature-based image tracking is prone to errors in low-textured and poorly lit environments. Specifically, we investigate a…