相关论文: Wheeled Robots Path Planing and Tracking System Ba…

In this work, we propose a simultaneous localization and mapping (SLAM) system using a monocular camera and Ultra-wideband (UWB) sensors. Our system, referred to as VRSLAM, is a multi-stage framework that leverages the strengths and…

Localization of mobile robots is crucial for deploying robots in real-world applications such as search and rescue missions. This work aims to develop an accurate localization system applicable to swarm robots equipped only with low-cost…

In the context of robotic underwater operations, the visual degradations induced by the medium properties make difficult the exclusive use of cameras for localization purpose. Hence, most localization methods are based on expensive…

In a robotised warehouse, as in any place where robots move autonomously, a major issue is the localization or detection of human operators during their intervention in the work area of the robots. This paper introduces a wearable human…

This work presents a motion planning framework for robotic manipulators that computes collision-free paths directly in image space. The generated paths can then be tracked using vision-based control, eliminating the need for an explicit…

Monocular vision-based Simultaneous Localization and Mapping (SLAM) is used for various purposes due to its advantages in cost, simple setup, as well as availability in the environments where navigation with satellites is not effective.…

The real-world deployment of fully autonomous mobile robots depends on a robust SLAM (Simultaneous Localization and Mapping) system, capable of handling dynamic environments, where objects are moving in front of the robot, and changing…

Accurate localization is an essential technology for the flexible navigation of robots in large-scale environments. Both SLAM-based and map-based localization will increase the computing load due to the increase in map size, which will…

Visual robot navigation within large-scale, semi-structured environments deals with various challenges such as computation intensive path planning algorithms or insufficient knowledge about traversable spaces. Moreover, many…

A robust visual localization and mapping system is essential for warehouse robot navigation, as cameras offer a more cost-effective alternative to LiDAR sensors. However, existing forward-facing camera systems often encounter challenges in…

Monocular simultaneous localization and mapping (SLAM) is emerging in advanced driver assistance systems and autonomous driving, because a single camera is cheap and easy to install. Conventional monocular SLAM has two major challenges…

In addition to the core tasks of simultaneous localization and mapping (SLAM), active SLAM additionally in- volves generating robot actions that enable effective and efficient exploration of unknown environments. However, existing active…

Visually impaired people usually find it hard to travel independently in many public places such as airports and shopping malls due to the problems of obstacle avoidance and guidance to the desired location. Therefore, in the highly dynamic…

In this paper, we present an active visual SLAM approach for omnidirectional robots. The goal is to generate control commands that allow such a robot to simultaneously localize itself and map an unknown environment while maximizing the…

To address the weak observability of monocular visual-inertial odometers on ground-based mobile robots, this paper proposes a monocular inertial SLAM algorithm combined with wheel speed anomaly detection. The algorithm uses a wheel speed…

According to WHO statistics, the number of visually impaired people is increasing annually. One of the most critical necessities for visually impaired people is the ability to navigate safely. This paper proposes a navigation system based…

We have developed an algorithm to generate a complete map of the traversable region for a personal assistant robot using monocular vision only. Using multiple taken by a simple webcam, obstacle detection and avoidance algorithms have been…

This paper presents a robust monocular visual SLAM system that simultaneously utilizes point, line, and vanishing point features for accurate camera pose estimation and mapping. To address the critical challenge of achieving reliable…

The bundle of geometry and appearance in computer vision has proven to be a promising solution for robots across a wide variety of applications. Stereo cameras and RGB-D sensors are widely used to realise fast 3D reconstruction and…

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…