相关论文: Omnidirectional Sensor Placement: A Large-Scale Co…

Visual-inertial simultaneous localization and mapping (SLAM) is a key module of robotics and low-speed autonomous vehicles, which is usually limited by the high computation burden for practical applications. To this end, an innovative…

Omnidirectional depth estimation enables efficient 3D perception over a full 360-degree range. However, in real-world applications such as autonomous driving and robotics, achieving real-time performance and robust cross-scene…

Realizing relative localization by leveraging inter-robot local measurements is a challenging problem, especially in the presence of measurement noise. Motivated by this challenge, in this paper we propose a novel and systematic 3-D…

Visual localization plays an important role in many applications. However, due to the large appearance variations such as season and illumination changes, as well as weather and day-night variations, it's still a big challenge for robust…

Multi-robot systems are widely used for coverage tasks that require efficient coordination across large environments. In Multi-Robot Coverage Path Planning (MCPP), the objective is typically to minimize the makespan by generating…

We present a new algorithm for deploying passenger robots in marsupial robot systems. A marsupial robot system consists of a carrier robot (e.g., a ground vehicle), which is highly capable and has a long mission duration, and at least one…

Accurate localization in diverse environments is a fundamental challenge in computer vision and robotics. The task involves determining a sensor's precise position and orientation, typically a camera, within a given space. Traditional…

Recent advances in robust semi-supervised learning (SSL) typically filter out-of-distribution (OOD) information at the sample level. We argue that an overlooked problem of robust SSL is its corrupted information on semantic level,…

We address an important problem in ecology called Species Distribution Modeling (SDM), whose goal is to predict whether a species exists at a certain position on Earth. In particular, we tackle a challenging version of this task, where we…

Domain adaptation solves image classification problems in the target domain by taking advantage of the labelled source data and unlabelled target data. Usually, the source and target domains share the same set of classes. As a special case,…

Offboard perception aims to automatically generate high-quality 3D labels for autonomous driving (AD) scenes. Existing offboard methods focus on 3D object detection with closed-set taxonomy and fail to match human-level recognition…

This paper presents a novel approach for collision avoidance in optimal and model predictive control, in which the environment is represented by a large number of points and the robot as a union of padded polygons. The conditions that none…

Advancing safe autonomous systems through reinforcement learning (RL) requires robust benchmarks to evaluate performance, analyze methods, and assess agent competencies. Humans primarily rely on embodied visual perception to safely navigate…

An automated vehicle operating in an urban environment must be able to perceive and recognise object/obstacles in a three-dimensional world while navigating in a constantly changing environment. In order to plan and execute accurate…

Place recognition plays a crucial role in navigational assistance, and is also a challenging issue of assistive technology. The place recognition is prone to erroneous localization owing to various changes between database and query images.…

This paper presents a novel multi-robot coverage path planning (CPP) algorithm - aka SCoPP - that provides a time-efficient solution, with workload balanced plans for each robot in a multi-robot system, based on their initial states. This…

Robust localization in a given map is a crucial component of most autonomous robots. In this paper, we address the problem of localizing in an indoor environment that changes and where prominent structures have no correspondence in the map…

Trajectory prediction is a fundamental problem in computer vision, vision-language-action models, world models, and autonomous systems, with broad impact on autonomous driving, robotics, and surveillance. However, most existing methods…

Routing problems such as Hamiltonian Path Problem (HPP), seeks a path to visit all the vertices in a graph while minimizing the path cost. This paper studies a variant, HPP with Probabilistic Terminals (HPP-PT), where each vertex has a…

An optimization method is proposed in this paper for novel deployment of given number of directional landmarks (location and pose) within a given region in the 3-D task space. This new deployment technique is built on the geometric models…