相关论文: Qualitative vision-based navigation based on slope…

While classical approaches to autonomous robot navigation currently enable operation in certain environments, they break down in tightly constrained spaces, e.g., where the robot needs to engage in agile maneuvers to squeeze between…

Autonomous robots are used as the tool to solve many kinds of problems, such as environmental mapping and monitoring. Either for adverse conditions related to the human presence or even for the need to reduce costs, it is certain that many…

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…

Navigation is one of the most heavily studied problems in robotics, and is conventionally approached as a geometric mapping and planning problem. However, real-world navigation presents a complex set of physical challenges that defies…

Uniform and variable environments still remain a challenge for stable visual localization and mapping in mobile robot navigation. One of the possible approaches suitable for such environments is appearance-based teach-and-repeat navigation,…

We present semi-supervised deep learning approaches for traversability estimation from fisheye images. Our method, GONet, and the proposed extensions leverage Generative Adversarial Networks (GANs) to effectively predict whether the area…

Many robotic tasks involving some form of 3D visual perception greatly benefit from a complete knowledge of the working environment. However, robots often have to tackle unstructured environments and their onboard visual sensors can only…

This paper addresses the Object Goal Navigation problem, where a robot must efficiently find a target object in an unknown environment. Existing implicit memory-based methods struggle with long-term memory retention and planning, while…

This work presents the development of a lane detection system aimed at assisting the driving of conventional and autonomous vehicles. The system was implemented using traditional computer vision techniques, focusing on robustness and…

Visual navigation requires the robot to reach a specified goal such as an image, based on a sequence of first-person visual observations. While recent learning-based approaches have made significant progress, they often focus on improving…

Natural environments such as forests and grasslands are challenging for robotic navigation because of the false perception of rigid obstacles from high grass, twigs, or bushes. In this work, we propose Wild Visual Navigation (WVN), an…

Embodied navigation requires robots to understand and interact with the environment based on given tasks. Vision-Language Navigation (VLN) is an embodied navigation task, where a robot navigates within a previously seen and unseen…

Self-driving vehicles rely on sensory input to monitor their surroundings and continuously adapt to the most likely future road course. Predictive trajectory planning is based on snapshots of the (uncertain) road course as a key input.…

We propose a learning-based navigation system for reaching visually indicated goals and demonstrate this system on a real mobile robot platform. Learning provides an appealing alternative to conventional methods for robotic navigation:…

Researchers and robotic development groups have recently started paying special attention to autonomous mobile robot navigation in indoor environments using vision sensors. The required data is provided for robot navigation and object…

Visual navigation is essential for robotics and embodied AI. However, existing foundation models, particularly those with transformer decoders, suffer from high computational overhead and lack interpretability, limiting their deployment in…

We present a robotic system capable of navigating autonomously by following a line and taking good quality pictures of people. When a group of people are detected, the robot rotates towards them and then back to line while continuously…

A novel skill learning approach is proposed that allows a robot to acquire human-like visuospatial skills for object manipulation tasks. Visuospatial skills are attained by observing spatial relationships among objects through…

Visual topological navigation has been revitalized recently thanks to the advancement of deep learning that substantially improves robot perception. However, the scalability and reliability issue remain challenging due to the complexity and…

Natural environments such as forests and grasslands are challenging for robotic navigation because of the false perception of rigid obstacles from high grass, twigs, or bushes. In this work, we present Wild Visual Navigation (WVN), an…