相关论文: OdomBeyondVision: An Indoor Multi-modal Multi-plat…

In recent years, autonomous robots have become ubiquitous in research and daily life. Among many factors, public datasets play an important role in the progress of this field, as they waive the tall order of initial investment in hardware…

Enabling autonomous robots to operate robustly in challenging environments is necessary in a future with increased autonomy. For many autonomous systems, estimation and odometry remains a single point of failure, from which it can often be…

Autonomous navigation for legged robots in complex and dynamic environments relies on robust simultaneous localization and mapping (SLAM) systems to accurately map surroundings and localize the robot, ensuring safe and efficient operation.…

We present a multi-camera LiDAR inertial dataset of 4.5 km walking distance as an expansion of the Newer College Dataset. The global shutter multi-camera device is hardware synchronized with both the IMU and LiDAR, which is more accurate…

Currently, mobile robots are developing rapidly and are finding numerous applications in the industry. However, several problems remain related to their practical use, such as the need for expensive hardware and high power consumption…

This paper describes a system whereby a robot detects and track human-meaningful navigational cues as it navigates in an indoor environment. It is intended as the sensor front-end for a mobile robot system that can communicate its…

Positional estimation is of great importance in the public safety sector. Emergency responders such as fire fighters, medical rescue teams, and the police will all benefit from a resilient positioning system to deliver safe and effective…

Perception is a key element for enabling intelligent autonomous navigation. Understanding the semantics of the surrounding environment and accurate vehicle pose estimation are essential capabilities for autonomous vehicles, including…

Recent years have seen a proliferation of new digital products for the efficient management of indoor spaces, with important applications like emergency management, virtual property showcasing and interior design. These products rely on…

Autonomous driving systems are set to become a reality in transport systems and, so, maximum acceptance is being sought among users. Currently, the most advanced architectures require driver intervention when functional system failures or…

Autonomous robots often rely on monocular cameras for odometry estimation and navigation. However, the scale ambiguity problem presents a critical barrier to effective monocular visual odometry. In this paper, we present CodedVO, a novel…

Inertial odometry is an attractive solution to the problem of state estimation for agile quadrotor flight. It is inexpensive, lightweight, and it is not affected by perceptual degradation. However, only relying on the integration of the…

We have proposed, to the best of our knowledge, the first-of-its-kind LiDAR-Inertial-Visual-Fused simultaneous localization and mapping (SLAM) system with a strong place recognition capacity. Our proposed SLAM system is consist of…

Unmanned surface vehicles can encounter a number of varied visual circumstances during operation, some of which can be very difficult to interpret. While most cases can be solved only using color camera images, some weather and lighting…

Higher level functionality in autonomous driving depends strongly on a precise motion estimate of the vehicle. Powerful algorithms have been developed. However, their great majority focuses on either binocular imagery or pure LIDAR…

Researchers and robotic development groups have recently started paying special attention to autonomous mobile robot navigation in indoor environments using vision sensors. The required data is provided for robot navigation and object…

3D mapping in dynamic environments poses a challenge for modern researchers in robotics and autonomous transportation. There are no universal representations for dynamic 3D scenes that incorporate multimodal data such as images, point…

We present the Brown Pedestrian Odometry Dataset (BPOD) for benchmarking visual odometry algorithms in head-mounted pedestrian settings. This dataset was captured using synchronized global and rolling shutter stereo cameras in 12 diverse…

The perception system in personalized mobile agents requires developing indoor scene understanding models, which can understand 3D geometries, capture objectiveness, analyze human behaviors, etc. Nonetheless, this direction has not been…

With robots being deployed in increasingly complex environments like underground mines and planetary surfaces, the multi-sensor fusion method has gained more and more attention which is a promising solution to state estimation in the such…