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In this case study, we design, integrate and implement a cloud-enabled autonomous robotic navigation system. The system has the following features: map generation and robot coordination via cloud service and video streaming to allow online…
Multi-beam LiDAR sensors, as used on autonomous vehicles and mobile robots, acquire sequences of 3D range scans ("frames"). Each frame covers the scene sparsely, due to limited angular scanning resolution and occlusion. The sparsity…
Safety and reliability are crucial for the public acceptance of autonomous driving. To ensure accurate and reliable environmental perception, intelligent vehicles must exhibit accuracy and robustness in various environments. Millimeter-wave…
Plane detection in 3D point clouds is a crucial pre-processing step for applications such as point cloud segmentation, semantic mapping and SLAM. In contrast to many recent plane detection methods that are only applicable on organized point…
Unmanned Aerial Vehicles (UAVs), equipped with camera sensors can facilitate enhanced situational awareness for many emergency response and disaster management applications since they are capable of operating in remote and difficult to…
Point cloud matching, a crucial technique in computer vision, medical and robotics fields, is primarily concerned with finding correspondences between pairs of point clouds or voxels. In some practical scenarios, emphasizing local…
Learning-based methods have achieved strong performance for quadrupedal locomotion. However, several challenges prevent quadrupeds from learning helpful indoor skills that require interaction with environments and humans: lack of…
2D top-down maps are commonly used for the navigation and exploration of mobile robots through unknown areas. Typically, the robot builds the navigation maps incrementally from local observations using onboard sensors. Recent works have…
The rapid aging of global populations has created an urgent need for intelligent healthcare monitoring systems to ensure the safety of elderly individuals living independently. Existing cloud-centric platforms face critical limitations,…
Augmented reality (AR) has gained increasingly attention from both research and industry communities. By overlaying digital information and content onto the physical world, AR enables users to experience the world in a more informative and…
Autonomous driving is a safety-critical application, and it is therefore a top priority that the accompanying assistance systems are able to provide precise information about the surrounding environment of the vehicle. Tasks such as 3D…
RGB-D cameras supply rich and dense visual and spatial information for various robotics tasks such as scene understanding, map reconstruction, and localization. Integrating depth and visual information can aid robots in localization and…
Safe autonomous landing in urban cities is a necessity for the growing Unmanned Aircraft Systems (UAS) industry. In urgent situations, building rooftops, particularly flat rooftops, can provide local safe landing zones for small UAS. This…
Various autonomous applications rely on recognizing specific known landmarks in their environment. For example, Simultaneous Localization And Mapping (SLAM) is an important technique that lays the foundation for many common tasks, such as…
Simultaneous Localization and Mapping (SLAM) plays an important role in outdoor and indoor applications ranging from autonomous driving to indoor robotics. Outdoor SLAM has been widely used with the assistance of LiDAR or GPS. For indoor…
Point cloud registration involves aligning one point cloud with another or with a three-dimensional (3D) model, enabling the integration of multimodal data into a unified representation. This is essential in applications such as…
Registering point clouds of forest environments is an essential prerequisite for LiDAR applications in precision forestry. State-of-the-art methods for forest point cloud registration require the extraction of individual tree attributes,…
Autonomous Flying Networks (FNs) are emerging as a key enabler of on-demand connectivity in dynamic and infrastructure-limited environments. However, current approaches mainly focus on UAV placement, routing, and resource management,…
Inspecting indoor environments such as tunnels, industrial facilities, and construction sites is essential for infrastructure monitoring and maintenance. While manual inspection in these environments is often time-consuming and potentially…
City-scale 3D point cloud is a promising way to express detailed and complicated outdoor structures. It encompasses both the appearance and geometry features of segmented city components, including cars, streets, and buildings, that can be…