相关论文: Monocular Visual Teach and Repeat Aided by Local G…

Visual Teach and Repeat 3 (VT&R3), a generalization of stereo VT&R, achieves long-term autonomous path-following using topometric mapping and localization from a single rich sensor stream. In this paper, we improve the capabilities of a…

We present a novel concept for teach-and-repeat visual navigation. The proposed concept is based on a mathematical model, which indicates that in teach-and-repeat navigation scenarios, mobile robots do not need to perform explicit…

We propose a Visual Teach and Repeat (VTR) algorithm using semantic landmarks extracted from environmental objects for ground robots with fixed mount monocular cameras. The proposed algorithm is robust to changes in the starting pose of the…

In dynamic and cramped industrial environments, achieving reliable Visual Teach and Repeat (VT&R) with a single-camera is challenging. In this work, we develop a robust method for non-synchronized multi-camera VT&R. Our contribution are…

Traditional monocular Visual Simultaneous Localization and Mapping (vSLAM) systems can be divided into three categories: those that use features, those that rely on the image itself, and hybrid models. In the case of feature-based methods,…

This paper presents Virtual Teach and Repeat (VirT&R): an extension of the Teach and Repeat (T&R) framework that enables GPS-denied, zero-shot autonomous ground vehicle navigation in untraversed environments. VirT&R leverages aerial imagery…

Visual Teach-and-Repeat Navigation is a direct solution for mobile robot to be deployed in unknown environments. However, robust trajectory repeat navigation still remains challenged due to environmental changing and dynamic objects. In…

This paper demonstrates a system capable of combining a sparse, indirect, monocular visual SLAM, with both offline and real-time Multi-View Stereo (MVS) reconstruction algorithms. This combination overcomes many obstacles encountered by…

Visual teach-and-repeat (VT&R) navigation enables robots to autonomously traverse previously demonstrated paths using visual feedback. We present a novel event-camera-based VT\&R system. Our system formulates event-stream matching as…

3D object detection based on monocular camera data is a key enabler for autonomous driving. The task however, is ill-posed due to lack of depth information in 2D images. Recent deep learning methods show promising results to recover depth…

Redundant navigation systems are critical for safe operation of UAVs in high-risk environments. Since most commercial UAVs almost wholly rely on GPS, jamming, interference and multi-pathing are real concerns that usually limit their…

Warehouse logistics robots will work in different warehouse environments. In order to enable robots to perceive environment and plan path faster without modifying existing warehouses, we uses monocular camera to achieve an efficient robot…

This paper presents a monocular vision system susceptible of being installed in unmanned small and medium-sized aerial vehicles built to perform missions in forest environments (e.g., search and rescue). The proposed system extends a…

Recent work has shown impressive localization performance using only images of ground textures taken with a downward facing monocular camera. This provides a reliable navigation method that is robust to feature sparse environments and…

Deep Learning based techniques have been adopted with precision to solve a lot of standard computer vision problems, some of which are image classification, object detection and segmentation. Despite the widespread success of these…

In recent years there have been excellent results in Visual-Inertial Odometry techniques, which aim to compute the incremental motion of the sensor with high accuracy and robustness. However these approaches lack the capability to close…

Monocular depth estimation in the wild inherently predicts depth up to an unknown scale. To resolve scale ambiguity issue, we present a learning algorithm that leverages monocular simultaneous localization and mapping (SLAM) with…

Traditional approaches for Visual Simultaneous Localization and Mapping (VSLAM) rely on low-level vision information for state estimation, such as handcrafted local features or the image gradient. While significant progress has been made…

We tackle the problem of localizing an autonomous sea-surface vehicle in river estuarine areas using monocular camera and angular velocity input from an inertial sensor. Our method is challenged by two prominent drawbacks associated with…

Monocular simultaneous localization and mapping (SLAM) algorithms estimate drone poses and build a 3D map using a single camera. Current algorithms include sparse methods that lack detailed geometry, while learning-driven approaches produce…