Related papers: Uncertainty Aware Mapping for Vision-Based Underwa…
Construction robots operate in unstructured construction sites, where effective visual perception is crucial for ensuring safe and seamless operations. However, construction robots often handle large elements and perform tasks across…
Navigation in natural outdoor environments requires a robust and reliable traversability classification method to handle the plethora of situations a robot can encounter. Binary classification algorithms perform well in their native domain…
The active view acquisition problem has been extensively studied in the context of robot navigation using NeRF and 3D Gaussian Splatting. To enhance scene reconstruction efficiency and ensure robot safety, we propose the Risk-aware…
Autonomous mobile robots like self-flying drones and industrial robots heavily depend on depth images to perform tasks such as 3D reconstruction and visual SLAM. However, the presence of inaccuracies in these depth images can greatly hinder…
Visual place recognition (VPR) is crucial for robots to identify previously visited locations, playing an important role in autonomous navigation in both indoor and outdoor environments. However, most existing VPR datasets are limited to…
In the future, extraterrestrial expeditions will not only be conducted by rovers but also by flying robots. The technical demonstration drone Ingenuity, that just landed on Mars, will mark the beginning of a new era of exploration…
To autonomously navigate and plan interactions in real-world environments, robots require the ability to robustly perceive and map complex, unstructured surrounding scenes. Besides building an internal representation of the observed scene…
Small aerial robots are particularly well-suited for search and rescue in confined and hazardous environments due to their agility, low cost, and ability to traverse through cluttered spaces that are inaccessible to larger platforms.…
Vision sensors are extensively used for localizing a robot's pose, particularly in environments where global localization tools such as GPS or motion capture systems are unavailable. In many visual navigation systems, localization is…
We present an experimental validation framework for space robotics that leverages underwater environments to approximate microgravity dynamics. While neutral buoyancy conditions make underwater robotics an excellent platform for space…
Robot vision is greatly affected by occlusions, which poses challenges to autonomous systems. The robot itself may hide targets of interest from the camera, while it moves within the field of view, leading to failures in task execution. For…
We introduce a learning-based depth map fusion framework that accepts a set of depth and confidence maps generated by a Multi-View Stereo (MVS) algorithm as input and improves them. This is accomplished by integrating volumetric visibility…
Autonomous exploration of unknown environments is a key capability for mobile robots, but it is largely unsolved for robots equipped with only a single monocular camera and no dense range sensors. In this paper, we present a novel approach…
Vision based localization is a popular approach to carry out manoeuvres particularly in GPS-restricted indoor environments, because vision can complement other activities performed by the robot. The objective is to estimate the current…
We present an approach for safe motion planning under robot state and environment (obstacle and landmark location) uncertainties. To this end, we first develop an approach that accounts for the landmark uncertainties during robot…
The majority of Earth's surface lies deep in the oceans, where no surface light reaches. Robots diving down to great depths must bring light sources that create moving illumination patterns in the darkness, such that the same 3D point…
The use of robotic technology has drastically increased in manufacturing in the 21st century. But by utilizing their sensory cues, humans still outperform machines, especially in micro scale manufacturing, which requires high-precision…
Guide dog robots offer promising solutions to enhance mobility and safety for visually impaired individuals, addressing the limitations of traditional guide dogs, particularly in perceptual intelligence and communication. With the emergence…
Metric ground navigation addresses the problem of autonomously moving a robot from one point to another in an obstacle-occupied planar environment in a collision-free manner. It is one of the most fundamental capabilities of intelligent…
We consider the task of detecting anomalies for autonomous mobile robots based on vision. We categorize relevant types of visual anomalies and discuss how they can be detected by unsupervised deep learning methods. We propose a novel…