相关论文: AI Guide Dog: Egocentric Path Prediction on Smartp…
A robot guide dog has compelling advantages over animal guide dogs for its cost-effectiveness, potential for mass production, and low maintenance burden. However, despite the long history of guide dog robot research, previous studies were…
Accessible pedestrian signal (APS) was proposed as a mean to achieve the same level of service that is set forth by the American with Disability Act (ADA) for the visually impaired. One of the major issues of existing APSs is the failure to…
While commendable progress has been made in user-centric research on mobile assistive systems for blind and low-vision (BLV) individuals, references that directly inform robot navigation design remain rare. To bridge this gap, we conducted…
Embodied navigation holds significant promise for real-world applications such as last-mile delivery. However, most existing approaches are confined to either indoor or outdoor environments and rely heavily on strong assumptions, such as…
By the year 2023, the global population of individuals with impaired vision has surpassed 220 million. People with impaired vision will find it difficult while finding path or avoiding obstacles, and must ask for auxiliary tools for help.…
An integrity-based path planning strategy for autonomous ground vehicle (AGV) navigation in urban environments is developed. The vehicle is assumed to navigate by utilizing cellular long-term evolution (LTE) signals in addition to Global…
Navigation is an essential ability for mobile agents to be completely autonomous and able to perform complex actions. However, the problem of navigation for agents with limited (or no) perception of the world, or devoid of a fully defined…
This work presents a harmonic design of autonomous guided vehicle (AGV) control, edge intelligence, and human input to enable autonomous transportation in industrial environments. The AGV has the capability to navigate between a source and…
Indoor built environments like homes and offices often present complex and cluttered layouts that pose significant challenges for individuals who are blind or visually impaired, especially when performing tasks that involve locating and…
Blind navigation is an accessibility application that enables blind to use an android Smartphone in an easy way for indoor navigation with instructions in audio form. We have proposed a prototype which is an indoor navigation application…
In this paper, we introduce HEADS-UP, the first egocentric dataset collected from head-mounted cameras, designed specifically for trajectory prediction in blind assistance systems. With the growing population of blind and visually impaired…
Autonomous navigation based on precise localization has been widely developed in both academic research and practical applications. The high demand for localization accuracy has been essential for safe robot planing and navigation while it…
We present MIDGARD, an open-source simulation platform for autonomous robot navigation in outdoor unstructured environments. MIDGARD is designed to enable the training of autonomous agents (e.g., unmanned ground vehicles) in photorealistic…
Mobile robot navigation is typically regarded as a geometric problem, in which the robot's objective is to perceive the geometry of the environment in order to plan collision-free paths towards a desired goal. However, a purely geometric…
Robotic guidance systems have shown promise in supporting blind and visually impaired (BVI) individuals with wayfinding and obstacle avoidance. However, most existing systems assume a clear path and do not support a critical aspect of…
Assistive visual navigation systems for visually impaired individuals have become increasingly popular thanks to the rise of mobile computing. Most of these devices work by translating visual information into voice commands. In complex…
The ability to predict collision-free future trajectories from egocentric observations is crucial in applications such as humanoid robotics, VR / AR, and assistive navigation. In this work, we introduce the challenging problem of predicting…
For people affected by blindness and low vision (BLV), safe and independent navigation remains a major challenge, impacting over 2.2 billion individuals worldwide. Although multimodal large language models (MLLMs) offer new opportunities…
Indoor navigation is a foundational technology to assist the tracking and localization of humans, autonomous vehicles, drones, and robots in indoor spaces. Due to the lack of penetration of GPS signals in buildings, subterranean locales,…
We propose an indoor navigation algorithm based on pedestrian dead reckoning (PDR) using an inertial measurement unit in a smartphone and map matching. The proposed indoor navigation system is user-friendly and convenient because it…