相关论文: Monocular Vision-Based Swarm Robot Localization Us…

Self-localization on a 3D map by using an inexpensive monocular camera is required to realize autonomous driving. Self-localization based on a camera often uses a convolutional neural network (CNN) that can extract local features that are…

Localization is the challenge of determining the robot's pose in a mapped environment. This is done by implementing a probabilistic algorithm to filter noisy sensor measurements and track the robot's position and orientation. This paper…

This paper presents a method to improve the localization accuracy of robots operating in a range-based localization network. The method is favorable especially when the robots operate in harsh environments where the access to a robust and…

Localizing mobile robotic nodes in indoor and GPS-denied environments is a complex problem, particularly in dynamic, unstructured scenarios where traditional cameras and LIDAR-based sensing and localization modalities may fail.…

Monocular SLAM refers to using a single camera to estimate robot ego motion while building a map of the environment. While Monocular SLAM is a well studied problem, automating Monocular SLAM by integrating it with trajectory planning…

Monocular SLAM refers to using a single camera to estimate robot ego motion while building a map of the environment. While Monocular SLAM is a well studied problem, automating Monocular SLAM by integrating it with trajectory planning…

Visual relocalization is crucial for autonomous visual localization and navigation of mobile robotics. Due to the improvement of CNN-based object detection algorithm, the robustness of visual relocalization is greatly enhanced especially in…

This paper presents a strategy to guide a mobile ground robot equipped with a camera or depth sensor, in order to autonomously map the visible part of a bounded three-dimensional structure. We describe motion planning algorithms that…

Rather than having each newly deployed robot create its own map of its surroundings, the growing availability of SLAM-enabled devices provides the option of simply localizing in a map of another robot or device. In cases such as multi-robot…

In this paper, we propose a ground-based monocular UAV localisation system that detects and localises an LED marker attached to the underside of a UAV. Our system removes the need for extensive infrastructure and calibration unlike existing…

The ability of robots to estimate their location is crucial for a wide variety of autonomous operations. In settings where GPS is unavailable, measurements of transmissions from fixed beacons provide an effective means of estimating a…

We propose a decentralized algorithm to collaboratively transport arbitrarily shaped objects using a swarm of robots. Our approach starts with a task allocation phase that sequentially distributes locations around the object to be…

Human following on mobile robots has witnessed significant advances due to its potentials for real-world applications. Currently most human following systems are equipped with depth sensors to obtain distance information between human and…

An essential problem of swarm robotics is how members of the swarm knows the positions of other robots. The main aim of this research is to develop a cost-effective and simple vision-based system to detect the range, bearing, and heading of…

Fiducial markers can encode rich information about the environment and can aid Visual SLAM (VSLAM) approaches in reconstructing maps with practical semantic information. Current marker-based VSLAM approaches mainly utilize markers for…

Decentralized visual simultaneous localization and mapping (SLAM) is a powerful tool for multi-robot applications in environments where absolute positioning systems are not available. Being visual, it relies on cameras, cheap, lightweight…

In this paper, we study the circle formation problem by multiple autonomous and homogeneous disc-shaped robots (also known as fat robots). The goal of the robots is to place themselves on the periphery of a circle. Circle formation has many…

Collective movement inspired by animal groups promises inherited benefits for robot swarms, such as enhanced sensing and efficiency. However, while animals move in groups using only their local senses, robots often obey central control or…

This paper presents a localization system for mobile robots enabling precise localization in inaccurate building models. The approach leverages local referencing to counteract inherent deviations between as-planned and as-built data for…

The visual SLAM method is widely used for self-localization and mapping in complex environments. Visual-inertia SLAM, which combines a camera with IMU, can significantly improve the robustness and enable scale weak-visibility, whereas…