相关论文: PCR-ORB: Enhanced ORB-SLAM3 with Point Cloud Refin…

Visual Simultaneous Localization and Mapping (VSLAM) is a fundamental technology for robotics applications. While VSLAM research has achieved significant advancements, its robustness under challenging situations, such as poor lighting,…

SLAM system using only point cloud has been proven successful in recent years. In most of these systems, they extract features for tracking after ground removal, which causes large variance on the z-axis. Ground actually provides robust…

To advance the field of autonomous robotics, particularly in object search tasks within unexplored environments, we introduce a novel framework centered around the Probable Object Location (POLo) score. Utilizing a 3D object probability…

Vision Language Models (VLMs) have recently achieved significant progress in bridging visual perception and linguistic reasoning. Recently, OpenAI o3 model introduced a zoom-in search strategy that effectively elicits active perception…

In Robotics, especially in this era of autonomous driving, mapping is one key ability of a robot to be able to navigate through an environment, localize on it and analyze its traversability. To allow for real-time execution on constrained…

Conventional visual simultaneous localization and mapping (SLAM) algorithms often fail under rapid motion, low illumination, or abrupt lighting transitions due to motion blur and limited dynamic range. Event cameras mitigate these issues…

To autonomously navigate in real-world environments, special in search and rescue operations, Unmanned Aerial Vehicles (UAVs) necessitate comprehensive maps to ensure safety. However, the prevalent metric map often lacks semantic…

Field robotics in perceptually-challenging environments require fast and accurate state estimation, but modern LiDAR sensors quickly overwhelm current odometry algorithms. To this end, this paper presents a lightweight frontend LiDAR…

Point cloud registration (PCR) is crucial for many downstream tasks, such as simultaneous localization and mapping (SLAM) and object tracking. This makes detecting and quantifying registration misalignment, i.e., PCR quality validation, an…

We introduce a novel method for oriented place recognition with 3D LiDAR scans. A Convolutional Neural Network is trained to extract compact descriptors from single 3D LiDAR scans. These can be used both to retrieve near-by place candidates…

Gaining spatial awareness of the Operating Room (OR) for surgical robotic systems is a key technology that can enable intelligent applications aiming at improved OR workflow. In this work, we present a method for semantic dense…

Visual place recognition techniques based on deep learning, which have imposed themselves as the state-of-the-art in recent years, do not generalize well to environments visually different from the training set. Thus, to achieve top…

Simultaneous localization and mapping (SLAM) is an essential component of robotic systems. In this work we perform a feasibility study of RGB-D SLAM for the task of indoor robot navigation. Recent visual SLAM methods, e.g. ORBSLAM2…

Combining Simultaneous Localisation and Mapping (SLAM) estimation and dynamic scene modelling can highly benefit robot autonomy in dynamic environments. Robot path planning and obstacle avoidance tasks rely on accurate estimations of the…

Producing traversability maps and understanding the surroundings are crucial prerequisites for autonomous navigation. In this paper, we address the problem of traversability assessment using point clouds. We propose a novel pillar feature…

Object detection is crucial in various cutting-edge applications, such as autonomous vehicles and advanced robotics systems, primarily relying on data from conventional frame-based RGB sensors. However, these sensors often struggle with…

Determining the ideal architecture for deep learning models, such as the number of layers and neurons, is a difficult and resource-intensive process that frequently relies on human tuning or computationally costly optimization approaches.…

With the advancement of deep learning methods it is imperative that autonomous systems will increasingly become intelligent with the inclusion of advanced machine learning algorithms to execute a variety of autonomous operations. One such…

Highly dynamic environments, with moving objects such as cars or humans, can pose a performance challenge for LiDAR SLAM systems that assume largely static scenes. To overcome this challenge and support the deployment of robots in real…

While category-level 9DoF object pose estimation has emerged recently, previous correspondence-based or direct regression methods are both limited in accuracy due to the huge intra-category variances in object shape and color, etc.…