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

Autonomous systems possess the features of inferring their own state, understanding their surroundings, and performing autonomous navigation. With the applications of learning systems, like deep learning and reinforcement learning, the…

According to WHO statistics, the number of visually impaired people is increasing annually. One of the most critical necessities for visually impaired people is the ability to navigate safely. This paper proposes a navigation system based…

Accurate localization of other traffic participants is a vital task in autonomous driving systems. State-of-the-art systems employ a combination of sensing modalities such as RGB cameras and LiDARs for localizing traffic participants, but…

Object pose estimation is a core perception task that enables, for example, object grasping and scene understanding. The widely available, inexpensive and high-resolution RGB sensors and CNNs that allow for fast inference based on this…

Traditional approaches for Visual Simultaneous Localization and Mapping (VSLAM) rely on low-level vision information for state estimation, such as handcrafted local features or the image gradient. While significant progress has been made…

In this paper, we present an active visual SLAM approach for omnidirectional robots. The goal is to generate control commands that allow such a robot to simultaneously localize itself and map an unknown environment while maximizing the…

Deep Learning based techniques have been adopted with precision to solve a lot of standard computer vision problems, some of which are image classification, object detection and segmentation. Despite the widespread success of these…

Robots operating in the real world must plan through environments that deform, yield, and reconfigure under contact, requiring interaction-aware 3D representations that extend beyond static geometric occupancy. To address this, we introduce…

A coordinate system is proposed that replaces the usual three-dimensional Cartesian x,y,z position coordinates, for use in robotic localization applications. Range, azimuth, and elevation measurement models become greatly simplified, and,…

We present a method for image-guided exploration for mobile robotic systems. Our approach extends ergodic exploration methods, a recent exploration approach that prioritizes complete coverage of a space, with the use of a learned image…

Localization within a known environment is a crucial capability for mobile robots. Simultaneous Localization and Mapping (SLAM) is a prominent solution to this problem. SLAM is a framework that consists of a diverse set of computational…

Controlling a team of robots in a coordinated manner is challenging because centralized approaches (where all computation is performed on a central machine) scale poorly, and globally referenced external localization systems may not always…

Decentralized deployment of drone swarms usually relies on inter-agent communication or visual markers that are mounted on the vehicles to simplify their mutual detection. This letter proposes a vision-based detection and tracking algorithm…

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…

Localization in the environment is an essential navigational capability for animals and mobile robots. In the indoor environment, the global localization problem remains challenging to be perfectly solved with probabilistic methods.…

Visual place recognition (VPR) capabilities enable autonomous robots to navigate complex environments by discovering the environment's topology based on visual input. Most research efforts focus on enhancing the accuracy and robustness of…

Visual SLAM systems targeting static scenes have been developed with satisfactory accuracy and robustness. Dynamic 3D object tracking has then become a significant capability in visual SLAM with the requirement of understanding dynamic…

Accurate positioning of underwater robots in confined environments is crucial for inspection and mapping tasks and is also a prerequisite for autonomous operations. Presently, there are no positioning systems available that are suited for…

Continuum robots are promising candidates for interactive tasks in medical and industrial applications due to their unique shape, compliance, and miniaturization capability. Accurate and real-time shape sensing is essential for such tasks…

With the deepening of research on the SLAM system, the possibility of cooperative SLAM with multi-robots has been proposed. This paper presents a map matching and localization approach considering the cooperative SLAM of an aerial-ground…