Related papers: GroundGazer: An optical reference system for plana…
Low-cost indoor mobile robots have gained popularity with the increasing adoption of automation in homes and commercial spaces. However, existing lidar and camera-based solutions have limitations such as poor performance in visually…
Enabling robots to grasp objects specified through natural language is essential for effective human-robot interaction, yet it remains a significant challenge. Existing approaches often struggle with open-form language expressions and…
GNSS is unreliable, inaccurate, and insufficient in many real-time autonomous field applications. In this work, we present a GNSS-free global localization solution that contains a method of registering imaging radar on the ground with…
Estimating the 3D position and orientation of objects in the environment with a single RGB camera is a critical and challenging task for low-cost urban autonomous driving and mobile robots. Most of the existing algorithms are based on the…
Currently, mobile robots are developing rapidly and are finding numerous applications in the industry. However, several problems remain related to their practical use, such as the need for expensive hardware and high power consumption…
Existing navigation systems mostly consider "success" when the robot reaches within 1m radius to a goal. This precision is insufficient for emerging applications where the robot needs to be positioned precisely relative to an object for…
Proprioceptive localization refers to a new class of robot egocentric localization methods that do not rely on the perception and recognition of external landmarks. These methods are naturally immune to bad weather, poor lighting…
Accurate localisation in planetary robotics enables the advanced autonomy required to support the increased scale and scope of future missions. The successes of the Ingenuity helicopter and multiple planetary orbiters lay the groundwork for…
Although the majority of recent autonomous driving systems concentrate on developing perception methods based on ego-vehicle sensors, there is an overlooked alternative approach that involves leveraging intelligent roadside cameras to help…
Augmented reality (AR) technology has been introduced into the robotics field to narrow the visual gap between indoor and outdoor environments. However, without signals from satellite navigation systems, flight experiments in these indoor…
This paper presents a localization system for mobile robots enabling precise localization in inaccurate building models. The approach leverages local referencing to counteract inherent deviations between as-planned and as-built data for…
To help improve the safety and accessibility of indoor spaces, researchers and health professionals have created assessment instruments that enable homeowners and trained experts to audit and improve homes. With advances in computer vision,…
Autonomous locomotion for mobile ground robots in unstructured environments such as waypoint navigation or flipper control requires a sufficiently accurate prediction of the robot-terrain interaction. Heuristics like occupancy grids or…
Autonomous operation of UAVs in a closed environment requires precise and reliable pose estimate that can stabilize the UAV without using external localization systems such as GNSS. In this work, we are concerned with estimating the pose…
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…
In this field report, we detail the lessons learned from our field expedition to collect Ground Penetrating Radar (GPR) data in a Mars analog environment for the purpose of validating GPR localization techniques in rugged environments.…
Location-aware applications play an increasingly critical role in everyday life. However, satellite-based localization (e.g., GPS) has limited accuracy and can be unusable in dense urban areas and indoors. We introduce an image-based global…
The self-localization capability is a crucial component for Unmanned Ground Vehicles (UGV) in farming applications. Approaches based solely on visual cues or on low-cost GPS are easily prone to fail in such scenarios. In this paper, we…
High-precision vehicle positioning is key to the implementation of modern driving systems in urban environments. Global Navigation Satellite System (GNSS) carrier phase measurements can provide millimeter- to centimeter-level positioning,…
This paper presents a strategy to guide a mobile ground robot equipped with a camera or depth sensor, in order to autonomously map the visible part of a bounded three-dimensional structure. We describe motion planning algorithms that…