相关论文: Towards Long-term Robotics in the Wild

Panoptic scene understanding and tracking of dynamic agents are essential for robots and automated vehicles to navigate in urban environments. As LiDARs provide accurate illumination-independent geometric depictions of the scene, performing…

6D object pose estimation is one of the fundamental problems in computer vision and robotics research. While a lot of recent efforts have been made on generalizing pose estimation to novel object instances within the same category, namely…

Holistic scene understanding poses a fundamental contribution to the autonomous operation of a robotic agent in its environment. Key ingredients include a well-defined representation of the surroundings to capture its spatial structure as…

Camera relocalization plays a vital role in many robotics and computer vision tasks, such as global localization, recovery from tracking failure, and loop closure detection. Recent random forests based methods directly predict 3D world…

Forests play a crucial role in Earth's system processes and provide a suite of social and economic ecosystem services, but are significantly impacted by human activities, leading to a pronounced disruption of the equilibrium within…

In the past decade, although single-robot perception has made significant advancements, the exploration of multi-robot collaborative perception remains largely unexplored. This involves fusing compressed, intermittent, limited,…

The research community has increasing interest in autonomous driving research, despite the resource intensity of obtaining representative real world data. Existing self-driving datasets are limited in the scale and variation of the…

Robotic and animal mapping systems share many of the same objectives and challenges, but differ in one key aspect: where much of the research in robotic mapping has focused on solving the data association problem, the grid cell neurons…

Accurate pose estimation is a fundamental ability that all mobile robots must posses in order to traverse robustly in a given environment. Much like a human, this ability is dependent on the robot's understanding of a given scene. For…

Autonomous parking remains a critical yet challenging task in intelligent driving systems, particularly within constrained urban environments where maneuvering space is limited and precise control is essential. While recent advances in…

Robust and accurate, map-based localization is crucial for autonomous mobile systems. In this paper, we exploit range images generated from 3D LiDAR scans to address the problem of localizing mobile robots or autonomous cars in a map of a…

Wilderness areas offer important ecological and social benefits and there are urgent reasons to discover where their positive characteristics and ecological functions are present and able to flourish. We apply a novel explainable machine…

Forests offer essential resources and services to humanity, yet preserving and restoring them presents challenges, particularly due to the limited availability of actionable data, especially in hard-to-reach areas like forest canopies.…

Autonomous driving datasets are essential for validating the progress of intelligent vehicle algorithms, which include localization, perception, and prediction. However, existing datasets are predominantly focused on structured urban…

Many robotics applications require precise pose estimates despite operating in large and changing environments. This can be addressed by visual localization, using a pre-computed 3D model of the surroundings. The pose estimation then…

Spatial understanding is a crucial capability that enables robots to perceive their surroundings, reason about their environment, and interact with it meaningfully. In modern robotics, these capabilities are increasingly provided by…

Technological developments call for increasing perception and action capabilities of robots. Among other skills, vision systems that can adapt to any possible change in the working conditions are needed. Since these conditions are…

Camera Traps (or Wild Cams) enable the automatic collection of large quantities of image data. Biologists all over the world use camera traps to monitor biodiversity and population density of animal species. The computer vision community…

We encounter large-scale environments where both structured and unstructured spaces coexist, such as on campuses. In this environment, lighting conditions and dynamic objects change constantly. To tackle the challenges of large-scale…

Robust grasping in cluttered environments remains an open challenge in robotics. While benchmark datasets have significantly advanced deep learning methods, they mainly focus on simplistic scenes with light occlusion and insufficient…