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Structure from Motion (SfM) techniques are being increasingly used to create 3D maps from images in many domains including environmental monitoring. However, SfM techniques are often confounded in visually repetitive environments as they…

We present an approach for estimating the pose of an external camera with respect to a robot using a single RGB image of the robot. The image is processed by a deep neural network to detect 2D projections of keypoints (such as joints)…

Range-only (RO) localization involves determining the position of a mobile robot by measuring the distance to specific anchors. RO localization is challenging since the measurements are low-dimensional and a single range sensor does not…

This research paper addresses the challenges of exploration and navigation in unknown environments from an evolutionary swarm robotics perspective. Path formation plays a crucial role in enabling cooperative swarm robots to accomplish these…

Monitoring animal populations is crucial for assessing the health of ecosystems. Traditional methods, which require extensive fieldwork, are increasingly being supplemented by time-lapse camera-trap imagery combined with an automatic…

Compensating for slip and skid is crucial for mobile robots navigating outdoor terrains. In these challenging environments, slipping and skidding introduce uncertainties into trajectory tracking systems, potentially compromising the safety…

The operational environments in which a mobile robot executes its missions often exhibit non-flat terrain characteristics, encompassing outdoor and indoor settings featuring ramps and slopes. In such scenarios, the conventional…

This paper introduces a framework for state estimation on a humanoid robot platform using only common proprioceptive sensors and knowledge of leg kinematics. The presented approach extends that detailed in [1] on a quadruped platform by…

Social Robot Navigation is the skill that allows robots to move efficiently in human-populated environments while ensuring safety, comfort, and trust. Unlike other areas of research, the scientific community has not yet achieved an…

Accurate and robust state estimation at nighttime is essential for autonomous robotic navigation to achieve nocturnal or round-the-clock tasks. An intuitive question arises: Can low-cost standard cameras be exploited for nocturnal state…

Exploration in unknown and unstructured environments is a pivotal requirement for robotic applications. A robot's exploration behavior can be inherently affected by the performance of its Simultaneous Localization and Mapping (SLAM)…

This paper proposes a novel active Simultaneous Localization and Mapping (SLAM) method with continuous trajectory optimization over a stochastic robot dynamics model. The problem is formalized as a stochastic optimal control over the…

Vision-aided localization for low-cost mobile robots in diverse environments has attracted widespread attention recently. Although many current systems are applicable in daytime environments, nocturnal visual localization is still an open…

Accurate motion capture of aerial robots in 3-D is a key enabler for autonomous operation in indoor environments such as warehouses or factories, as well as driving forward research in these areas. The most commonly used solutions at…

Object pose estimation is a non-trivial task that enables robotic manipulation, bin picking, augmented reality, and scene understanding, to name a few use cases. Monocular object pose estimation gained considerable momentum with the rise of…

Accurate perception of dynamic obstacles is essential for autonomous robot navigation in indoor environments. Although sophisticated 3D object detection and tracking methods have been investigated and developed thoroughly in the fields of…

In dynamic and cramped industrial environments, achieving reliable Visual Teach and Repeat (VT&R) with a single-camera is challenging. In this work, we develop a robust method for non-synchronized multi-camera VT&R. Our contribution are…

Underwater navigation presents several challenges, including unstructured unknown environments, lack of reliable localization systems (e.g., GPS), and poor visibility. Furthermore, good-quality obstacle detection sensors for underwater…

Swarm robotics utilises decentralised self-organising systems to form complex collective behaviours built from the bottom-up using individuals that have limited capabilities. Previous work has shown that simple occlusion-based strategies…

This article presents a comparative analysis of a mobile robot trajectories computed by various ROS-based SLAM systems. For this reason we developed a prototype of a mobile robot with common sensors: 2D lidar, a monocular and ZED stereo…