相关论文: L-VITeX: Light-weight Visual Intuition for Terrain…
Accurate, infrastructure-less sensor systems for motion tracking are essential for mobile robotics and augmented reality (AR) applications. The most popular state-of-the-art visual-inertial odometry (VIO) systems, however, are too…
This work presents an innovative solution for robotic odometry, path planning and exploration in wild unknown environments, focusing on digital modelling. The approach uses a minimum cost formulation with pseudo-randomly generated…
We study a Visual-Inertial Navigation (VIN) problem in which a robot needs to estimate its state using an on-board camera and an inertial sensor, without any prior knowledge of the external environment. We consider the case in which the…
Predicting future motion trajectories is a critical capability across domains such as robotics, autonomous systems, and human activity forecasting, enabling safer and more intelligent decision-making. This paper proposes a novel, efficient,…
We envision that in the near future, humanoid robots would share home space and assist us in our daily and routine activities through object manipulations. One of the fundamental technologies that need to be developed for robots is to…
Localization in agricultural environments is challenging due to their unstructured nature and lack of distinctive landmarks. Although agricultural settings have been studied in the context of object classification and segmentation, the…
Small targets are particularly difficult to detect due to their low pixel count, complex backgrounds, and varying shooting angles, which make it hard for models to extract effective features. While some large-scale models offer high…
This paper proposes a visual-servoing method dedicated to grasping of daily-life objects. In order to obtain an affordable solution, we use a low-accurate robotic arm. Our method corrects errors by using an RGB-D sensor. It is based on SURF…
Detection and classification of vehicles are very significant components in an Intelligent-Transportation System. Existing solutions not only use heavy-weight and costly equipment, but also largely depend on constant cloud (Internet)…
The Global Exploration Roadmap indicates the need for increased human exploration of under-sampled regions of our solar system in order to make new scientific discoveries. The high costs and dangers of sending humans deeper into our solar…
This paper presents a fully autonomous robotic system that performs sim-to-real transfer in complex long-horizon tasks involving navigation, recognition, grasping, and stacking in an environment with multiple obstacles. The key feature of…
Semi-supervised video object segmentation (VOS) has been largely driven by space-time memory (STM) networks, which store past frame features in a spatiotemporal memory to segment the current frame via softmax attention. However, STM…
Reasoning about fine-grained spatial relationships in warehouse-scale environments poses a significant challenge for existing vision-language models (VLMs), which often struggle to comprehend 3D layouts, object arrangements, and multimodal…
Mapping and localization are two essential tasks for mobile robots in real-world applications. However, largescale and dynamic scenes challenge the accuracy and robustness of most current mature solutions. This situation becomes even worse…
This systems paper presents the implementation and design of RB5, a wheeled robot for autonomous long-term exploration with fewer and cheaper sensors. Requiring just an RGB-D camera and low-power computing hardware, the system consists of…
Household robots operate in the same space for years. Such robots incrementally build dynamic maps that can be used for tasks requiring remote object localization. However, benchmarks in robot learning often test generalization through…
Low-overhead visual place recognition (VPR) is a highly active research topic. Mobile robotics applications often operate under low-end hardware, and even more hardware capable systems can still benefit from freeing up onboard system…
Autonomous exploration in unknown environments is a critical challenge in robotics, particularly for applications such as indoor navigation, search and rescue, and service robotics. Traditional exploration strategies, such as frontier-based…
Accurate traversability estimation is essential for safe and effective navigation of outdoor robots operating in complex environments. This paper introduces a novel experience-based method that allows robots to autonomously learn which…
Developing smart tires with high sensing capability is significant for improving the moving stability and environmental adaptability of wheeled robots and vehicles. However, due to the classical manufacturing design, it is always…