相关论文: Low-cost Autonomous Navigation System Based on Opt…
Modern optical flow methods are often composed of a cascade of many independent steps or formulated as a black box neural network that is hard to interpret and analyze. In this work we seek for a plain, interpretable, but learnable…
Mapless navigation has emerged as a promising approach for enabling autonomous robots to navigate in environments where pre-existing maps may be inaccurate, outdated, or unavailable. In this work, we propose an image-based local…
Enabling autonomous robots to safely and efficiently navigate, explore, and map underwater caves is of significant importance to water resource management, hydrogeology, archaeology, and marine robotics. In this work, we demonstrate the…
Drone racing is becoming a popular e-sport all over the world, and beating the best human drone race pilots has quickly become a new major challenge for artificial intelligence and robotics. In this paper, we propose a strategy for…
Recent developments in the domain of agricultural robotics have resulted in development of complex and efficient systems. Most of the land owners in the South Asian region are low income farmers. The agricultural experience for them is…
Perception of obstacles remains a critical safety concern for autonomous vehicles. Real-world collisions have shown that the autonomy faults leading to fatal collisions originate from obstacle existence detection. Open source autonomous…
In this paper, we propose a novel approach to wheeled robot navigation through an environment with movable obstacles. A robot exploits knowledge about different obstacle classes and selects the minimally invasive action to perform to clear…
Event-based vision has already revolutionized the perception task for robots by promising faster response, lower energy consumption, and lower bandwidth without introducing motion blur. In this work, a novel deep learning method based on…
The recent adoption of the Robot Operating System (ROS) as a software standard in robotics has contributed to novel solutions for several problems on the area. One such problem is known as Simultaneous Localization and Mapping (SLAM) with…
This paper introduces SmartBSP, an advanced self-supervised learning framework for real-time path planning and obstacle avoidance in autonomous robotics navigating through complex environments. The proposed system integrates Proximal Policy…
Underwater marine inspections for ship hull or marine debris, etc. are one of the vital measures carried out to ensure the safety of marine structures and underwater species. This work details the design, development and qualification of a…
Optical flow estimation is a critical task for tiny mobile robotics to enable safe and accurate navigation, obstacle avoidance, and other functionalities. However, optical flow estimation on tiny robots is challenging due to limited onboard…
Real-time high-accuracy optical flow estimation is a crucial component in various applications, including localization and mapping in robotics, object tracking, and activity recognition in computer vision. While recent learning-based…
Navigating dynamic environments requires the robot to generate collision-free trajectories and actively avoid moving obstacles. Most previous works designed path planning algorithms based on one single map representation, such as the…
One of the most relevant tasks in an intelligent vehicle navigation system is the detection of obstacles. It is important that a visual perception system for navigation purposes identifies obstacles, and it is also important that this…
This paper presents an adaptive visual servoing framework for robotic on-orbit servicing (OOS), specifically designed for capturing tumbling satellites. The vision-guided robotic system is capable of selecting optimal control actions in the…
Risk-aware navigation in unknown environments is a fundamental challenge for autonomous vehicles operating in complex urban systems. To address this issue, this paper presents a differentiable optimization layered safety-critical control…
Recently, Model Predictive Path Integral (MPPI) control algorithm has been extensively applied to autonomous navigation tasks, where the cost map is mostly assumed to be known and the 2D navigation tasks are only performed. In this paper,…
Plankton provide the foundation for life on earth. To advance our understanding of the marine ecosystem, for scientific, commercial and survival purposes, more in situ continuous monitoring and analysis of plankton is required. Cost,…
Machine vision is an important sensing technology used in mobile robotic systems. Advancing the autonomy of such systems requires accurate characterisation of sensor uncertainty. Vision includes intrinsic uncertainty due to the camera…