相关论文: Marker based Thermal-Inertial Localization for Aer…
Indoor localization of autonomous mobile robots (AMRs) can be realized with fiducial markers. Such systems require only a simple, monocular camera as sensor and fiducial markers as passive, identifiable position references that can be…
Although fiducial markers give an accurate pose estimation in laboratory conditions, where the noisy factors are controlled, using them in field robotic applications remains a challenge. This is constrained to the fiducial maker systems,…
This paper proposes an approach for fusing direct radiometric data from a thermal camera with inertial measurements to extend the robotic capabilities of aerial robots for navigation in GPS-denied and visually degraded environments in the…
With an ever-widening domain of aerial robotic applications, including many mission critical tasks such as disaster response operations, search and rescue missions and infrastructure inspections taking place in GPS-denied environments, the…
Many robotic tasks rely on the accurate localization of moving objects within a given workspace. This information about the objects' poses and velocities are used for control,motion planning, navigation, interaction with the environment or…
Fiducial markers are widely used in robotics for navigation, object recognition, and scene understanding. While offering significant advantages for robots and Augmented Reality (AR) applications, they often disrupt the visual aesthetics of…
In this paper, we introduce a dynamic fiducial marker which can change its appearance according to the spatiotemporal requirements of the visual perception task of a mobile robot using a camera as the sensor. We present a control scheme to…
Reflections of active markers in the environment are a common source of ambiguity in onboard visual relative localization. This work presents a novel approach that exploits these typically unwanted reflections for onboard relative…
This paper improves visual-inertial systems to boost the localization accuracy for low-cost rescue robots. When robots traverse on rugged terrain, the performance of pose estimation suffers from big noise on the measurements of the inertial…
The field of robotic vision is developing rapidly. Robots can react intelligently and provide assistance to user activities through sentient computing. Since industrial applications pose complex requirements that cannot be handled by…
The possible applications and benefits of autonomous Unmanned Aerial Vehicle (UAV) use in urban areas are gaining considerable attention. Before these possibilities can be realized, it is essential that UAVs be able to navigate reliably and…
Motion and dynamic environments, especially under challenging lighting conditions, are still an open issue for robust robotic applications. In this paper, we propose an end-to-end pipeline for real-time, low latency, 6 degrees-of-freedom…
Accurate localization is fundamental for autonomous underwater vehicles (AUVs) to carry out precise tasks, such as manipulation and construction. Vision-based solutions using fiducial marker are promising, but extremely challenging…
Image-based fiducial markers are useful in problems such as object tracking in cluttered or textureless environments, camera (and multi-sensor) calibration tasks, and vision-based simultaneous localization and mapping (SLAM). The…
Human-robot collaboration requires the establishment of methods to guarantee the safety of participating operators. A necessary part of this process is ensuring reliable human pose estimation. Established vision-based modalities encounter…
Fiducial markers have been playing an important role in augmented reality (AR), robot navigation, and general applications where the relative pose between a camera and an object is required. Here we introduce TopoTag, a robust and scalable…
The fiducial marker system for LiDAR is crucial for the robotic application but it is still rare to date. In this paper, an Intensity Image-based LiDAR Fiducial Marker (IILFM) system is developed. This system only requires an unstructured…
Global positioning systems can provide sufficient positioning accuracy for large scale robotic tasks in open environments. However, in underwater environments, these systems cannot be directly used, and measuring the position of underwater…
We propose a method for autonomous precision drone landing with fiducial markers and a gimbal-mounted, multi-payload camera with wide-angle, zoom, and IR sensors. The method has minimal data requirements; it depends primarily on the…
By harnessing fiducial markers as visual landmarks in the environment, Unmanned Aerial Vehicles (UAVs) can rapidly build precise maps and navigate spaces safely and efficiently, unlocking their potential for fluent collaboration and…