相关论文: Incremental RANSAC for Online Relocation in Large …
We address the problem where a mobile search agent seeks to find an unknown number of stationary objects distributed in a bounded search domain, and the search mission is subject to time/distance constraint. Our work accounts for false…
We consider the problem of relative pose regression in visual relocalization. Recently, several promising approaches have emerged in this area. We claim that even though they demonstrate on the same datasets using the same split to train…
In this work we consider a generalization of the well-known multivehicle routing problem: given a network, a set of agents occupying a subset of its nodes, and a set of tasks, we seek a minimum cost sequence of movements subject to the…
This paper describes a multi-modal data association method for global localization using object-based maps and camera images. In global localization, or relocalization, using object-based maps, existing methods typically resort to matching…
We propose a novel online learning algorithm, called SpCoSLAM 2.0, for spatial concepts and lexical acquisition with high accuracy and scalability. Previously, we proposed SpCoSLAM as an online learning algorithm based on unsupervised…
Map based visual inertial localization is a crucial step to reduce the drift in state estimation of mobile robots. The underlying problem for localization is to estimate the pose from a set of 3D-2D feature correspondences, of which the…
The survival analysis of driving trajectories allows for holistic evaluations of car-related risks caused by collisions or curvy roads. This analysis has advantages over common Time-To-X indicators, such as its predictive and probabilistic…
Trajectory planning for multiple robots in shared environments is a challenging problem especially when there is limited communication available or no central entity. In this article, we present Real-time planning using Linear Spatial…
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…
Localizing an image wrt. a 3D scene model represents a core task for many computer vision applications. An increasing number of real-world applications of visual localization on mobile devices, e.g., Augmented Reality or autonomous robots…
The large-scale deployment of autonomous vehicles is yet to come, and one of the major remaining challenges lies in urban dense traffic scenarios. In such cases, it remains challenging to predict the future evolution of the scene and future…
This study explores the problem of Multi-Agent Path Finding with continuous and stochastic travel times whose probability distribution is unknown. Our purpose is to manage a group of automated robots that provide package delivery services…
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…
In depth-sensing applications ranging from home robotics to AR/VR, it will be common to acquire 3D scans of interior spaces repeatedly at sparse time intervals (e.g., as part of regular daily use). We propose an algorithm that analyzes…
In dynamic ride-sharing systems, intelligent repositioning of idle vehicles enables service providers to maximize vehicle utilization and minimize request rejection rates as well as customer waiting times. In current practice, this task is…
Shared-use autonomous mobility services (SAMS) present new opportunities for improving accessible and demand-responsive mobility. A fundamental challenge that SAMS face is appropriate positioning of idle fleet vehicles to meet future demand…
The place recognition problem comprises two distinct subproblems; recognizing a specific location in the world ("specific" or "ordinary" place recognition) and recognizing the type of place (place categorization). Both are important…
The paper addresses the Vehicle Relocation Problem in free-floating car-sharing services by presenting a solution focused on strategies for repositioning vehicles and transferring personnel with the use of scooters. Our method begins by…
Large-scale spatial data such as air quality, thermal conditions and location signatures play a vital role in a variety of applications. Collecting such data manually can be tedious and labour intensive. With the advancement of robotic…
Cooperative geolocation has attracted significant research interests in recent years. A large number of localization algorithms rely on the availability of statistical knowledge of measurement errors, which is often difficult to obtain in…