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The MARWIN robot operates at the European XFEL to perform autonomous radiation monitoring in long, monotonous accelerator tunnels where conventional localization approaches struggle. Its current navigation concept combines lidar-based edge…
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approach for enabling autonomous robots to navigate in environments where pre-existing maps may be inaccurate, outdated, or unavailable.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…
This paper introduces a novel deep framework for dense 3D reconstruction from multiple image frames, leveraging a sparse set of depth measurements gathered jointly with image acquisition. Given a deep multi-view stereo network, our…
We present a method to capture both 3D shape and spatially varying reflectance with a multi-view photometric stereo (MVPS) technique that works for general isotropic materials. Our algorithm is suitable for perspective cameras and nearby…
A monocular 3D object tracking system generally has only up-to-scale pose estimation results without any prior knowledge of the tracked object. In this paper, we propose a novel idea to recover the metric scale of an arbitrary dynamic…
Self-supervised monocular depth and ego-motion estimation is a promising approach to replace or supplement expensive depth sensors such as LiDAR for robotics applications like autonomous driving. However, most research in this area focuses…
Autonomous exploration of unknown environments is a key capability for mobile robots, but it is largely unsolved for robots equipped with only a single monocular camera and no dense range sensors. In this paper, we present a novel approach…
This paper deals with the error analysis of a novel navigation algorithm that uses as input the sequence of images acquired from a moving camera and a Digital Terrain (or Elevation) Map (DTM/DEM). More specifically, it has been shown that…
Most intelligent transportation systems use a combination of radar sensors and cameras for robust vehicle perception. The calibration of these heterogeneous sensor types in an automatic fashion during system operation is challenging due to…
Stereo vision generally involves the computation of pixel correspondences and estimation of disparities between rectified image pairs. In many applications, including simultaneous localization and mapping (SLAM) and 3D object detection, the…
Feed-forward foundation models for multi-view 3-dimensional (3D) reconstruction have been trained on large-scale datasets of perspective images; when tested on wide field-of-view images, e.g., from a fisheye camera, their performance…
Cooperative Localization is a promising approach to achieving safe quadrotor formation flight through precise positioning via low-cost inter-drone sensors. This paper develops an observability-aware control principle tailored to quadrotor…
Multi-view 3D object detection is a fundamental task in autonomous driving perception, where achieving a balance between detection accuracy and computational efficiency remains crucial. Sparse query-based 3D detectors efficiently aggregate…
Training and transferring learning-based policies for quadrotors from simulation to reality remains challenging due to inefficient visual rendering, physical modeling inaccuracies, unmodeled sensor discrepancies, and the absence of a…
We present a method to calibrate a high-resolution wavefront-correcting device with a single, static camera, located in the focal plane; no moving of any component is needed. The method is based on a localized diversity and differential…
Aerial robots can enhance their safe and agile navigation in complex and cluttered environments by efficiently exploiting the information collected during a given task. In this paper, we address the learning model predictive control problem…
Autonomous quadrotor flight in confined spaces such as pipes and tunnels presents significant challenges due to unsteady, self-induced aerodynamic disturbances. Very recent advances have enabled flight in such conditions, but they either…
Monocular omnidirectional visual odometry (OVO) systems leverage 360-degree cameras to overcome field-of-view limitations of perspective VO systems. However, existing methods, reliant on handcrafted features or photometric objectives, often…
This paper develops and experimentally evaluates a navigation function for quadrotor formation flight that is resilient to abrupt quadrotor failures and other obstacles. The navigation function is based on modeling healthy quadrotors as…
Recent progress in legged locomotion has allowed highly dynamic and parkour-like behaviors for robots, similar to their biological counterparts. Yet, these methods mostly rely on egocentric (first-person) perception, limiting their…