相关论文: Dynamic Sensor Matching based on Geomagnetic Inert…
Long-Term visual localization under changing environments is a challenging problem in autonomous driving and mobile robotics due to season, illumination variance, etc. Image retrieval for localization is an efficient and effective solution…
Camera-based tactile sensors have shown great promise in enhancing a robot's ability to perform a variety of dexterous manipulation tasks. Advantages of their use can be attributed to the high resolution tactile data and 3D depth map…
Event camera sensors are bio-inspired sensors which asynchronously capture per-pixel brightness changes and output a stream of events encoding the polarity, location and time of these changes. These systems are witnessing rapid advancements…
3D object detection is essential for autonomous systems, enabling precise localization and dimension estimation. While LiDAR and RGB cameras are widely used, their fixed frame rates create perception gaps in high-speed scenarios. Event…
We introduce a method for real-time navigation and tracking with differentiably rendered world models. Learning models for control has led to impressive results in robotics and computer games, but this success has yet to be extended to…
Recent approaches have successfully focused on the segmentation of static reconstructions, thereby equipping downstream applications with semantic 3D understanding. However, the world in which we live is dynamic, characterized by numerous…
Visual localization and mapping is a crucial capability to address many challenges in mobile robotics. It constitutes a robust, accurate and cost-effective approach for local and global pose estimation within prior maps. Yet, in highly…
Inspired by the digital twinning systems, a novel real-time digital double framework is developed to enhance robot perception of the terrain conditions. Based on the very same physical model and motion control, this work exploits the use of…
An algorithm for pose and motion estimation using corresponding features in images and a digital terrain map is proposed. Using a Digital Terrain (or Digital Elevation) Map (DTM/DEM) as a global reference enables recovering the absolute…
Marine environments present significant challenges for perception and autonomy due to dynamic surfaces, limited visibility, and complex interactions between aerial, surface, and submerged sensing modalities. This paper introduces the Aerial…
Outdoor lighting has extremely high dynamic range. This makes the process of capturing outdoor environment maps notoriously challenging since special equipment must be used. In this work, we propose an alternative approach. We first capture…
In Global Navigation Satellite System (GNSS)-denied environments such as indoor parking structures or dense urban canyons, achieving accurate and robust vehicle positioning remains a significant challenge. This paper proposes a…
For intelligent vehicles, sensing the 3D environment is the first but crucial step. In this paper, we build a real-time advanced driver assistance system based on a low-power mobile platform. The system is a real-time multi-scheme…
Depth information is useful for many applications. Active depth sensors are appealing because they obtain dense and accurate depth maps. However, due to issues that range from power constraints to multi-sensor interference, these sensors…
Magneto-inductive navigation is an inexpensive and easily deployable solution to many of today's navigation problems. By utilizing very low frequency magnetic fields, magneto-inductive technology circumvents the problems with attenuation…
For robotic interaction in environments shared with other agents, access to volumetric and semantic maps of the scene is crucial. However, such environments are inevitably subject to long-term changes, which the map needs to account for. We…
We report on a Digital Image Correlation-based technique for the detection of in-plane elastic waves propagating in structural lattices. The experimental characterization of wave motion in lattice structures is currently of great interest…
We address the problem of ground-to-satellite image geo-localization, that is, estimating the camera latitude, longitude and orientation (azimuth angle) by matching a query image captured at the ground level against a large-scale database…
Modern multi-object tracking (MOT) systems usually model the trajectories by associating per-frame detections. However, when camera motion, fast motion, and occlusion challenges occur, it is difficult to ensure long-range tracking or even…
Coordinating proximity and tactile imaging by collocating cameras with tactile sensors can 1) provide useful information before contact such as object pose estimates and visually servo a robot to a target with reduced occlusion and higher…