相关论文: Sensor Model Identification via Simultaneous Model…

In data assimilation, the model may be subject to uncertainties and errors. The weak-constraint data assimilation framework enables incorporating model uncertainty in the dynamics of the governing equations. We propose a new framework for…

Perception is essential for the active interaction of physical agents with the external environment. The integration of multiple sensory modalities, such as touch and vision, enhances this perceptual process, creating a more comprehensive…

Learning has propelled the cutting edge of performance in robotic control to new heights, allowing robots to operate with high performance in conditions that were previously unimaginable. The majority of the work, however, assumes that the…

Location modeling, or determining where non-existing objects could feasibly appear in a scene, has the potential to benefit numerous computer vision tasks, from automatic object insertion to scene creation in virtual reality. Yet, this…

Sensor calibration, which can be intrinsic or extrinsic, is an essential step to achieve the measurement accuracy required for modern perception and navigation systems deployed on autonomous robots. To date, intrinsic calibration models for…

With information from multiple input modalities, sensor fusion-based algorithms usually out-perform their single-modality counterparts in robotics. Camera and LIDAR, with complementary semantic and depth information, are the typical choices…

If a robotic agent wants to exploit symbolic planning techniques to achieve some goal, it must be able to properly ground an abstract planning domain in the environment in which it operates. However, if the environment is initially unknown…

Robot localization remains a challenging task in GPS denied environments. State estimation approaches based on local sensors, e.g. cameras or IMUs, are drifting-prone for long-range missions as error accumulates. In this study, we aim to…

We consider a registration-based approach for localizing sensor networks from range measurements. This is based on the assumption that one can find overlapping cliques spanning the network. That is, for each sensor, one can identify…

Robotic calibration allows for the fusion of data from multiple sensors such as odometers, cameras, etc., by providing appropriate transformational relationships between the corresponding reference frames. For wheeled robots equipped with…

Successful human-robot cooperation hinges on each agent's ability to process and exchange information about the shared environment and the task at hand. Human communication is primarily based on symbolic abstractions of object properties,…

Highly automated driving functions currently often rely on a-priori knowledge from maps for planning and prediction in complex scenarios like cities. This makes map-relative localization an essential skill. In this paper, we address the…

We address the problem of detecting and mitigating the effect of malicious attacks to the sensors of a linear dynamical system. We develop a novel, efficient algorithm that uses a Satisfiability-Modulo-Theory approach to isolate the…

In this paper we propose a modular nonlinear least squares filtering approach for systems composed of independent subsystems. The state and error covariance estimate of each subsystem is updated independently, even when a relative…

In this paper, we propose a new method based on Hidden Markov Models to interpret temporal sequences of sensor data from mobile robots to automatically detect features. Hidden Markov Models have been used for a long time in pattern…

Localizing an object accurately with respect to a robot is a key step for autonomous robotic manipulation. In this work, we propose to tackle this task knowing only 3D models of the robot and object in the particular case where the scene is…

Accurate, efficient, and robust state estimation is more important than ever in robotics as the variety of platforms and complexity of tasks continue to grow. Historically, discrete-time filters and smoothers have been the dominant…

Building a predictive model that rapidly adapts to real-time condition monitoring (CM) signals is critical for engineering systems/units. Unfortunately, many current methods suffer from a trade-off between representation power and agility…

Employing an inertial measurement unit (IMU) as an additional sensor can dramatically improve both reliability and accuracy of visual/Lidar odometry (VO/LO). Different IMU integration models are introduced using different assumptions on the…

The number and arrangement of sensors on mobile robot dramatically influence its perception capabilities. Ensuring that sensors are mounted in a manner that enables accurate detection, localization, and mapping is essential for the success…