相关论文: OF-VO: Efficient Navigation among Pedestrians Usin…

This work presents a low-cost robot, controlled by a Raspberry Pi, whose navigation system is based on vision. The strategy used consisted of identifying obstacles via optical flow pattern recognition. Its estimation was done using the…

Optical Flow (OF) and depth are commonly used for visual odometry since they provide sufficient information about camera ego-motion in a rigid scene. We reformulate the problem of ego-motion estimation as a problem of motion estimation of a…

In the absence of reliable and accurate GPS, visual odometry (VO) has emerged as an effective means of estimating the egomotion of robotic vehicles. Like any dead-reckoning technique, VO suffers from unbounded accumulation of drift error…

Pedestrian Intention prediction is one of the key technologies in the transition from level 3 to level 4 autonomous driving. To understand pedestrian crossing behaviour, several elements and features should be taken into consideration to…

We present an approach for identifying the most walkable direction for navigation using a hand-held camera. Our approach extracts semantically rich contextual information from the scene using a custom encoder-decoder architecture for…

The task of Visual Object Navigation (VON) involves an agent's ability to locate a particular object within a given scene. In order to successfully accomplish the VON task, two essential conditions must be fulfilled:1) the user must know…

Over the last years, social robots have been deployed in public environments making evident the need of human-aware navigation capabilities. In this regard, the robotics community have made efforts to include proxemics or social conventions…

Forecasting pedestrian trajectories in dynamic scenes remains a critical problem in various applications, such as autonomous driving and socially aware robots. Such forecasting is challenging due to human-human and human-object interactions…

Predicting human trajectories is a challenging task due to the complexity of pedestrian behavior, which is influenced by external factors such as the scene's topology and interactions with other pedestrians. A special challenge arises from…

We present a novel approach to perform probabilistic collision detection between a high-DOF robot and high-DOF obstacles in dynamic, uncertain environments. In dynamic environments with a high-DOF robot and moving obstacles, our approach…

Mobility On Demand (MOD) systems are revolutionizing transportation in urban settings by improving vehicle utilization and reducing parking congestion. A key factor in the success of an MOD system is the ability to measure and respond to…

Nowadays, utilizing Advanced Driver-Assistance Systems (ADAS) has absorbed a huge interest as a potential solution for reducing road traffic issues. Despite recent technological advances in such systems, there are still many inquiries that…

Forecasting pedestrians' future motions is essential for autonomous driving systems to safely navigate in urban areas. However, existing prediction algorithms often overly rely on past observed trajectories and tend to fail around abrupt…

Visual Inertial Odometry (VIO) is one of the most established state estimation methods for mobile platforms. However, when visual tracking fails, VIO algorithms quickly diverge due to rapid error accumulation during inertial data…

Particle Image Velocimetry (PIV) typically relies on cross-correlation,which makes it difficult to obtain instantaneous velocity fields that are both spatially dense and available in real time at high acquisition rates. Optical Flow…

Path planning and collision avoidance are challenging in complex and highly variable environments due to the limited horizon of events. In literature, there are multiple model- and learning-based approaches that require significant…

Vision-based autonomous navigation systems rely on fast and accurate object detection algorithms to avoid obstacles. Algorithms and sensors designed for such systems need to be computationally efficient, due to the limited energy of the…

Pedestrian trajectory prediction is essential for collision avoidance in autonomous driving and robot navigation. However, predicting a pedestrian's trajectory in crowded environments is non-trivial as it is influenced by other pedestrians'…

Efficient navigation in dynamic environments is crucial for autonomous robots interacting with moving agents and static obstacles. We present a novel deep reinforcement learning approach that improves robot navigation and interaction with…

This paper addresses the robustness problem of visual-inertial state estimation for underwater operations. Underwater robots operating in a challenging environment are required to know their pose at all times. All vision-based localization…