相关论文: Enhancing Feature Tracking Reliability for Visual …

Visual servoing involves choosing actions that move a robot in response to observations from a camera, in order to reach a goal configuration in the world. Standard visual servoing approaches typically rely on manually designed features and…

The ability to track a moving vehicle is of crucial importance in numerous applications. The task has often been approached by the importance sampling technique of particle filters due to its ability to model non-linear and non-Gaussian…

We present a novel approach for image-goal navigation, where an agent navigates with a goal image rather than accurate target information, which is more challenging. Our goal is to decouple the learning of navigation goal planning,…

Accurate position estimation is essential for modern navigation systems deployed in autonomous platforms, including ground vehicles, marine vessels, and aerial drones. In this context, Visual Simultaneous Localisation and Mapping (VSLAM) -…

The core problem of visual multi-robot simultaneous localization and mapping (MR-SLAM) is how to efficiently and accurately perform multi-robot global localization (MR-GL). The difficulties are two-fold. The first is the difficulty of…

This work focuses on object goal visual navigation, aiming at finding the location of an object from a given class, where in each step the agent is provided with an egocentric RGB image of the scene. We propose to learn the agent's policy…

Accurate perception of dynamic obstacles is essential for autonomous robot navigation in indoor environments. Although sophisticated 3D object detection and tracking methods have been investigated and developed thoroughly in the fields of…

This paper presents a novel framework for simultaneously implementing localization and segmentation, which are two of the most important vision-based tasks for robotics. While the goals and techniques used for them were considered to be…

More powerful feature representations derived from deep neural networks benefit visual tracking algorithms widely. However, the lack of exploitation on temporal information prevents tracking algorithms from adapting to appearances changing…

A vehicle detection plays an important role in the traffic control at signalised intersections. This paper introduces a vision-based algorithm for vehicles presence recognition in detection zones. The algorithm uses linguistic variables to…

While the satellite-based Global Positioning System (GPS) is adequate for some outdoor applications, many other applications are held back by its multi-meter positioning errors and poor indoor coverage. In this paper, we study the…

The overarching goals in image-based localization are scale, robustness and speed. In recent years, approaches based on local features and sparse 3D point-cloud models have both dominated the benchmarks and seen successful realworld…

The objective of this work is to enable manipulation tasks with respect to the 6D pose of a dynamically moving object using a camera mounted on a robot. Examples include maintaining a constant relative 6D pose of the robot arm with respect…

Optical flow is a crucial component of the feature space for early visual processing of dynamic scenes especially in new applications such as self-driving vehicles, drones and autonomous robots. The dynamic vision sensors are well suited…

Recent works have shown that foundational safe control methods, such as Hamilton-Jacobi (HJ) reachability analysis, can be applied in the latent space of world models. While this enables the synthesis of latent safety filters for…

Collaborative multi-robot perception provides multiple views of an environment, offering varying perspectives to collaboratively understand the environment even when individual robots have poor points of view or when occlusions are caused…

This paper proposes a novel framework for real-time localization and egomotion tracking of a vehicle in a reference map. The core idea is to map the semantic objects observed by the vehicle and register them to their corresponding objects…

Feature matching is crucial in visual localization, where 2D-3D correspondence plays a major role in determining the accuracy of camera pose. A sufficient number of well-distributed 2D-3D correspondences is essential for accurate pose…

Developing robot controllers in a simulated environment is advantageous but transferring the controllers to the target environment presents challenges, often referred to as the "sim-to-real gap". We present a method for continuous…

In vision-based robot localization and SLAM, Visual Place Recognition (VPR) is essential. This paper addresses the problem of VPR, which involves accurately recognizing the location corresponding to a given query image. A popular approach…