相关论文: Robust SLAM Systems: Are We There Yet?

As machine learning (ML) systems increasingly permeate high-stakes settings such as healthcare, transportation, military, and national security, concerns regarding their reliability have emerged. Despite notable progress, the performance of…

We present SAL (SLAM Adversarial Lab), a modular framework for evaluating visual SLAM systems under adversarial conditions such as fog and rain. SAL represents each adversarial condition as a perturbation that transforms an existing dataset…

Robust estimation is much more challenging in high dimensions than it is in one dimension: Most techniques either lead to intractable optimization problems or estimators that can tolerate only a tiny fraction of errors. Recent work in…

Multi-camera systems have been shown to improve the accuracy and robustness of SLAM estimates, yet state-of-the-art SLAM systems predominantly support monocular or stereo setups. This paper presents a generic sparse visual SLAM framework…

This paper presents a novel distributed robust optimization scheme for steering distributions of multi-agent systems under stochastic and deterministic uncertainty. Robust optimization is a subfield of optimization which aims to discover an…

Enabling robots to understand the world in terms of objects is a critical building block towards higher level autonomy. The success of foundation models in vision has created the ability to segment and identify nearly all objects in the…

Deployment of robotic systems in the real world requires a certain level of robustness in order to deal with uncertainty factors, such as mismatches in the dynamics model, noise in sensor readings, and communication delays. Some approaches…

Robustness is widely regarded as a fundamental problem in the analysis of machine learning (ML) models. Most often robustness equates with deciding the non-existence of adversarial examples, where adversarial examples denote situations…

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…

Dynamic SLAM methods jointly estimate for the static and dynamic scene components, however existing approaches, while accurate, are computationally expensive and unsuitable for online applications. In this work, we present the first…

Visual Simultaneous Localization and Mapping (SLAM) plays a crucial role in autonomous systems. Traditional SLAM methods, based on static environment assumptions, struggle to handle complex dynamic environments. Recent dynamic SLAM systems…

Quadrupeds are robots that have been of interest in the past few years due to their versatility in navigating across various terrain and utility in several applications. For quadrupeds to navigate without a predefined map a priori, they…

The assumption of scene rigidity is typical in SLAM algorithms. Such a strong assumption limits the use of most visual SLAM systems in populated real-world environments, which are the target of several relevant applications like service…

SLAM is becoming a key component of robotics and augmented reality (AR) systems. While a large number of SLAM algorithms have been presented, there has been little effort to unify the interface of such algorithms, or to perform a holistic…

Given the widespread use of deep learning models in safety-critical applications, ensuring that the decisions of such models are robust against adversarial exploitation is of fundamental importance. In this thesis, we discuss recent…

Visual Simultaneous Localization and Mapping (vSLAM) has achieved great progress in the computer vision and robotics communities, and has been successfully used in many fields such as autonomous robot navigation and AR/VR. However, vSLAM…

Advancements in tracking algorithms have empowered nascent applications across various domains, from steering autonomous vehicles to guiding robots to enhancing augmented reality experiences for users. However, these algorithms are…

We propose a new algorithm for the solution of the robust multiple-load topology optimization problem. The algorithm can be applied to any type of problem, e.g., truss topology, variable thickness sheet or free material optimization. We…

An essential task for a multi-robot system is generating a common understanding of the environment and relative poses between robots. Cooperative tasks can be executed only when a vehicle has knowledge of its own state and the states of the…

In recent years, there has been significant attention given to the robustness assessment of neural networks. Robustness plays a critical role in ensuring reliable operation of artificial intelligence (AI) systems in complex and uncertain…