相关论文: Visual Navigation Using Sparse Optical Flow and Ti…

Distance estimation from vision is fundamental for a myriad of robotic applications such as navigation, manipulation, and planning. Inspired by the mammal's visual system, which gazes at specific objects, we develop two novel constraints…

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…

Monocular vision-based navigation for automated driving is a challenging task due to the lack of enough information to compute temporal relationships among objects on the road. Optical flow is an option to obtain temporal information from…

Fully autonomous mobile robots have a multitude of potential applications, but guaranteeing robust navigation performance remains an open research problem. For many tasks such as repeated infrastructure inspection, item delivery, or…

Autonomous vehicle navigation is a key challenge in artificial intelligence, requiring robust and accurate decision-making processes. This research introduces a new end-to-end method that exploits multimodal information from a single…

Real world visual navigation requires robots to operate in unfamiliar, human-occupied dynamic environments. Navigation around humans is especially difficult because it requires anticipating their future motion, which can be quite…

In the context of robotic underwater operations, the visual degradations induced by the medium properties make difficult the exclusive use of cameras for localization purpose. Hence, most localization methods are based on expensive…

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…

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,…

Inspired by research in psychology, we introduce a behavioral approach for visual navigation using topological maps. Our goal is to enable a robot to navigate from one location to another, relying only on its visual input and the…

Visual navigation for robotics is inspired by the human ability to navigate environments using visual cues and memory, eliminating the need for detailed maps. In unseen, unmapped, or GPS-denied settings, traditional metric map-based methods…

Visual Teach-and-Repeat Navigation is a direct solution for mobile robot to be deployed in unknown environments. However, robust trajectory repeat navigation still remains challenged due to environmental changing and dynamic objects. In…

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…

Humans can robustly follow a visual trajectory defined by a sequence of images (i.e. a video) regardless of substantial changes in the environment or the presence of obstacles. We aim at endowing similar visual navigation capabilities to…

Tactile sensors have been introduced to a wide range of robotic tasks such as robot manipulation to mimic the sense of human touch. However, there has only been a few works that integrate tactile sensing into robot navigation. This paper…

Monocular visual navigation methods have seen significant advances in the last decade, recently producing several real-time solutions for autonomously navigating small unmanned aircraft systems without relying on GPS. This is critical for…

Navigation in an unknown environment consists of multiple separable subtasks, such as collecting information about the surroundings and navigating to the current goal. In the case of pure visual navigation, all these subtasks need to…

Topological strategies for navigation meaningfully reduce the space of possible actions available to a robot, allowing use of heuristic priors or learning to enable computationally efficient, intelligent planning. The challenges in…

In this paper, we present a novel vision-based framework for tracking dynamic objects using guidance laws based on a rendezvous cone approach. These guidance laws enable an unmanned aircraft system equipped with a monocular camera to…

One powerful paradigm in visual navigation is to predict actions from observations directly. Training such an end-to-end system allows representations useful for downstream tasks to emerge automatically. However, the lack of inductive bias…