相关论文: Real-Time Sonar Fusion for Layered Navigation Cont…
In this paper, we present a framework to control a self-driving car by fusing raw information from RGB images and depth maps. A deep neural network architecture is used for mapping the vision and depth information, respectively, to steering…
Driven by deep learning techniques, perception technology in autonomous driving has developed rapidly in recent years, enabling vehicles to accurately detect and interpret surrounding environment for safe and efficient navigation. To…
Indoor poultry farms require inspection robots to maintain precise environmental control, which is crucial for preventing the rapid spread of disease and large-scale bird mortality. However, the complex conditions within these facilities,…
Studies predict that demand for autonomous vehicles will increase tenfold between 2019 and 2026. However, recent high-profile accidents have significantly impacted consumer confidence in this technology. The cause for many of these…
Accurate 3D reconstruction in visually-degraded underwater environments remains a formidable challenge. Single-modality approaches are insufficient: vision-based methods fail due to poor visibility and geometric constraints, while sonar is…
This survey examines recent sensor-based planning and control methods for Unmanned Underwater Vehicles (UUVs). In complex, uncertain underwater environments, UUVs require advanced planning and control strategies for effective navigation.…
Large scale monitoring systems enable efficient field level data collection at high temporal and spatial resolutions. One example is the deployment of such systems in pipeline infrastructure applications which have to be monitored for leaks…
Majority of the existing robot navigation systems, which facilitate the use of laser range finders, sonar sensors or artificial landmarks, has the ability to locate itself in an unknown environment and then build a map of the corresponding…
Critical maritime infrastructure increasingly demands situational awareness both above and below the surface, yet existing ''seabed-to-sky'' mapping pipelines either rely on GNSS (vulnerable to shadowing/spoofing) or expensive bathymetric…
Navigating complex indoor environments requires a deep understanding of the space the robotic agent is acting into to correctly inform the navigation process of the agent towards the goal location. In recent learning-based navigation…
Drones are a promising technology for autonomous data collection and indoor sensing. In situations when human-controlled UAVs may not be practical or dependable, such as in uncharted or dangerous locations, the usage of autonomous UAVs…
Audio-visual Navigation refers to an agent utilizing visual and auditory information in complex 3D environments to accomplish target localization and path planning, thereby achieving autonomous navigation. The core challenge of this task…
Multi-modal fusion is a fundamental task for the perception of an autonomous driving system, which has recently intrigued many researchers. However, achieving a rather good performance is not an easy task due to the noisy raw data,…
This paper presents a novel indoor layout estimation system based on the fusion of 2D LiDAR and intensity camera data. A ground robot explores an indoor space with a single floor and vertical walls, and collects a sequence of intensity…
Self-navigation in non-coordinating crowded environments is formidably challenging within multi-agent systems consisting of non-holonomic robots operating through local sensing. Our primary objective is the development of a novel, rapid,…
Multi-sensor fusion plays a critical role in enhancing perception for autonomous driving, overcoming individual sensor limitations, and enabling comprehensive environmental understanding. This paper first formalizes multi-sensor fusion…
How should representations from complementary sensors be integrated for autonomous driving? Geometry-based sensor fusion has shown great promise for perception tasks such as object detection and motion forecasting. However, for the actual…
Infrastructure-based sensing and real-time trajectory generation show promise for improving safety in high-risk roadway segments such as work zones, yet practical deployments are hindered by perspective distortion, complex geometry,…
This paper presents a novel software-based approach to stabilizing the acoustic images for in-air 3D sonars. Due to uneven terrain, traditional static beamforming techniques can be misaligned, causing inaccurate measurements and imaging…
Autonomous robots that assist humans in day to day living tasks are becoming increasingly popular. Autonomous mobile robots operate by sensing and perceiving their surrounding environment to make accurate driving decisions. A combination of…