相关论文: Team Samsung-RAL: Technical Report for 2024 RoboDr…

Robust control problems have significant practical implications since external disturbances can significantly impact the performance of control methods. Existing robust control methods excel at control-affine systems but fail at neural…

Simultaneous localisation and mapping (SLAM) is the problem of autonomous robots to construct or update a map of an undetermined unstructured environment while simultaneously estimate the pose in it. The current trend towards self-driving…

Localization is an essential task for mobile autonomous robotic systems that want to use pre-existing maps or create new ones in the context of SLAM. Today, many robotic platforms are equipped with high-accuracy 3D LiDAR sensors, which…

Although ground robotic autonomy has gained widespread usage in structured and controlled environments, autonomy in unknown and off-road terrain remains a difficult problem. Extreme, off-road, and unstructured environments such as…

In order to obtain a compact line segment-based map representation for localization and planning of mobile robots, it is necessary to merge redundant line segments which physically represent the same part of the environment in different…

Object modeling has become a core part of recent tracking frameworks. Current popular tackers use Transformer attention to extract the template feature separately or interactively with the search region. However, separate template learning…

Moving object segmentation is a crucial task for safe and reliable autonomous mobile systems like self-driving cars, improving the reliability and robustness of subsequent tasks like SLAM or path planning. While the segmentation of camera…

Intraoperative tracking of laparoscopic instruments is often a prerequisite for computer and robotic-assisted interventions. While numerous methods for detecting, segmenting and tracking of medical instruments based on endoscopic video…

Recent advances in vision foundation models, such as the Segment Anything Model (SAM) and its successor SAM2, have achieved state-of-the-art performance on general image segmentation benchmarks. However, these models struggle in adverse…

Deep learning based image segmentation methods have achieved great success, even having human-level accuracy in some applications. However, due to the black box nature of deep learning, the best method may fail in some situations. Thus…

The vast majority of existing Distributed Computing literature about mobile robotic swarms considers computability issues: characterizing the set of system hypotheses that enables problem solvability. By contrast, the focus of this work is…

Future advancements in robot autonomy and sophistication of robotics tasks rest on robust, efficient, and task-dependent semantic understanding of the environment. Semantic segmentation is the problem of simultaneous segmentation and…

Multimodal image fusion and semantic segmentation are critical for autonomous driving. Despite advancements, current models often struggle with segmenting densely packed elements due to a lack of comprehensive fusion features for guidance…

This paper studies the multi-robot reliable navigation problem in uncertain topological networks, which aims at maximizing the robot team's on-time arrival probabilities in the face of road network uncertainties. The uncertainty in these…

Multimodal learning leverages complementary information derived from different modalities, thereby enhancing performance in medical image segmentation. However, prevailing multimodal learning methods heavily rely on extensive well-annotated…

This paper proposes an end-to-end deep reinforcement learning approach for mobile robot navigation with dynamic obstacles avoidance. Using experience collected in a simulation environment, a convolutional neural network (CNN) is trained to…

Reliable detection and tracking of surrounding objects are indispensable for comprehensive motion prediction and planning of autonomous vehicles. Due to the limitations of individual sensors, the fusion of multiple sensor modalities is…

We present a modular framework to benchmark new and existing methods for trajectory planning and control in high-acceleration maneuvers that push autonomous driving to the limits. Our framework includes time-optimal raceline generation,…

Interactive image segmentation aims at segmenting a target region through a way of human-computer interaction. Recent works based on deep learning have achieved excellent performance, while most of them focus on improving the accuracy of…

In the Complex Video Object Segmentation task, researchers are required to track and segment specific targets within cluttered environments, which rigorously tests a method's capability for target comprehension and environmental…