相关论文: ShadowNav: Autonomous Global Localization for Luna…
The Moon's permanently shadowed regions (PSRs) are among the coldest places in the Solar System and are expected to become key landing sites for upcoming international space agency missions. Their proximity to peaks of perpetual solar power…
Topographic models are essential for characterizing planetary surfaces and for inferring underlying geological processes. Nevertheless, meter-scale topographic data remain limited, which constrains detailed planetary investigations, even…
Loop closing and relocalization are crucial techniques to establish reliable and robust long-term SLAM by addressing pose estimation drift and degeneration. This article begins by formulating loop closing and relocalization within a unified…
The exceptional mobility and long endurance of air-ground robots are raising interest in their usage to navigate complex environments (e.g., forests and large buildings). However, such environments often contain occluded and unknown…
Marker-based landing is widely used in drone delivery and return-to-base systems for its simplicity and reliability. However, most approaches assume idealized landing site visibility and sensor performance, limiting robustness in complex…
Cost-effective localization methods for Autonomous Underwater Vehicle (AUV) navigation are key for ocean monitoring and data collection at high resolution in time and space. Algorithmic solutions suitable for real-time processing that…
Localization is a key challenge in many robotics applications. In this work we explore LIDAR-based global localization in both urban and natural environments and develop a method suitable for online application. Our approach leverages…
Reliable localization is crucial for autonomous robots to navigate efficiently and safely. Some navigation methods can plan paths with high localizability (which describes the capability of acquiring reliable localization). By following…
Global localization is a critical problem in autonomous navigation, enabling precise positioning without reliance on GPS. Modern global localization techniques often depend on dense LiDAR maps, which, while precise, require extensive…
Supervised deep learning often suffers from the lack of sufficient training data. Specifically in the context of monocular depth map prediction, it is barely possible to determine dense ground truth depth images in realistic dynamic outdoor…
The LiDAR and inertial sensors based localization and mapping are of great significance for Unmanned Ground Vehicle related applications. In this work, we have developed an improved LiDAR-inertial localization and mapping system for…
Inferring the depth of images is a fundamental inverse problem within the field of Computer Vision since depth information is obtained through 2D images, which can be generated from infinite possibilities of observed real scenes. Benefiting…
Traditional simultaneous localization and mapping (SLAM) methods focus on improvement in the robot's localization under environment and sensor uncertainty. This paper, however, focuses on mitigating the need for exact localization of a…
Entrapment detection is a prerequisite for planetary rovers to perform autonomous rescue procedure. In this study, rover entrapment and approximated entrapment criteria are formally defined. Entrapment detection using Naive Bayes…
Understanding terrain topology at long-range is crucial for the success of off-road robotic missions, especially when navigating at high-speeds. LiDAR sensors, which are currently heavily relied upon for geometric mapping, provide sparse…
We propose a novel method, ProNav, which uses proprioceptive signals for traversability estimation in challenging outdoor terrains for autonomous legged robot navigation. Our approach uses sensor data from a legged robot's joint encoders,…
Place recognition is the fundamental module that can assist Simultaneous Localization and Mapping (SLAM) in loop-closure detection and re-localization for long-term navigation. The place recognition community has made astonishing progress…
Future astronauts living and working on the Moon will face extreme environmental conditions impeding their operational safety and performance. While it has been suggested that Augmented Reality (AR) Head-Up Displays (HUDs) could potentially…
In the recent decade, electronic technology gets advanced day by day the methodologies too should update. For the purpose of ranging various methods such Radio Detection and Ranging (RADAR), Light Detection and Ranging (LIDAR) and Sonic…
Visually impaired people usually find it hard to travel independently in many public places such as airports and shopping malls due to the problems of obstacle avoidance and guidance to the desired location. Therefore, in the highly dynamic…