相关论文: Field Report on a Wearable and Versatile Solution …
This paper presents a unique outdoor aerial visual-inertial-LiDAR dataset captured using a multi-sensor payload to promote the global navigation satellite system (GNSS)-denied navigation research. The dataset features flight distances…
Large scale, diverse demonstration data for manipulation tasks remains a major challenge in learning-based robot policies. Existing in-the-wild data collection approaches often rely on vision-based pose estimation of hand-held grippers or…
This paper addresses the problem of tracking the position of a cable-suspended payload carried by an unmanned aerial vehicle, with a focus on real-world deployment and minimal hardware requirements. In contrast to many existing approaches…
Combining multiple sensors enables a robot to maximize its perceptual awareness of environments and enhance its robustness to external disturbance, crucial to robotic navigation. This paper proposes the FusionPortable benchmark, a complete…
Autonomous vehicles and wheeled robots are widely used in many applications in both indoor and outdoor settings. In practical situations with limited GNSS signals or degraded lighting conditions, the navigation solution may rely only on…
Phone applications to track vehicle information have become more common place, providing insights into fuel consumption, vehicle status, and sustainable driving behaviorsHowever, to test what resonates with drivers without deep vehicle…
We present an empirical investigation of a new mapping system based on a graph of panoramic depth images. Panoramic images efficiently capture range measurements taken by a spinning lidar sensor, recording fine detail on the order of a few…
This extended abstract presents the design and evaluation of AgriOne, an automated unmanned ground vehicle (UGV) platform for high precision sensing of soil moisture in large agricultural fields. The developed robotic system is equipped…
An inertial navigation system (INS) utilizes three orthogonal accelerometers and gyroscopes to determine platform position, velocity, and orientation. There are countless applications for INS, including robotics, autonomous platforms, and…
Deep understanding of a field's soil moisture content is the leading indicator for predicting crop yields and making data driven decisions for irrigation and application of topical chemicals for drought resilience. Despite this importance,…
Off-road autonomous navigation is a challenging task as it is mainly dependent on the accuracy of the motion model. Motion model performances are limited by their ability to predict the interaction between the terrain and the UGV, which an…
We introduce a new dynamic model with the capability of recognizing both activities that an individual is performing as well as where that ndividual is located. Our model is novel in that it utilizes a dynamic graphical model to jointly…
Location tracking with global navigation satellite systems (GNSS), such as the GPS, is used in many applications, including the tracking of wild animals for research. Snapshot GNSS is a technique that only requires milliseconds of satellite…
Precise 6-DoF simultaneous localization and mapping (SLAM) from onboard sensors is critical for wearable devices capturing egocentric data, which exhibits specific challenges, such as a wider diversity of motions and viewpoints, prevalent…
As one of the most popular micro-mobility options, e-scooters are spreading in hundreds of big cities and college towns in the US and worldwide. In the meantime, e-scooters are also posing new challenges to traffic safety. In general,…
The paper proposes a reliable and robust planning solution to the long range robotic navigation problem in extremely cluttered environments. A two-layer planning architecture is proposed that leverages both the environment map and the…
Mobile smartphones compactly provide sensors such as cameras, IMUs, GNSS measurement units, and wireless and wired communication channels required for robotics projects. They are affordable, portable, and programmable, which makes them…
Despite our growing reliance on mobile phones for a wide range of daily tasks, their operation remains largely opaque. A number of previous studies have addressed elements of this problem in a partial fashion, trading off analytic…
The rapid developments of mobile robotics and autonomous navigation over the years are largely empowered by public datasets for testing and upgrading, such as sensor odometry and SLAM tasks. Impressive demos and benchmark scores have…
Inertial measurement unit (IMU) and odometer have been commonly-used sensors for autonomous land navigation in the global positioning system (GPS)-denied scenarios. This paper systematically proposes a versatile strategy for self-contained…