相关论文: Topological Mapping and Navigation using a Monocul…

This paper presents a novel mapping approach for a universal aerial-ground robotic system utilizing a single monocular camera. The proposed system is capable of detecting a diverse range of objects and estimating their positions without…

Topological correctness plays a critical role in many image segmentation tasks, yet most networks are trained using pixel-wise loss functions, such as Dice, neglecting topological accuracy. Existing topology-aware methods often lack robust…

This work proposes a novel hybrid approach for vision-only navigation of mobile robots, which combines advances of both deep learning approaches and classical model-based planning algorithms. Today, purely data-driven end-to-end models are…

A reliable sense-and-avoid system is critical to enabling safe autonomous operation of unmanned aircraft. Existing sense-and-avoid methods often require specialized sensors that are too large or power intensive for use on small unmanned…

Unmanned vehicles usually rely on Global Positioning System (GPS) and Light Detection and Ranging (LiDAR) sensors to achieve high-precision localization results for navigation purpose. However, this combination with their associated costs…

Navigation applications relying on the Global Navigation Satellite System (GNSS) are limited in indoor environments and GNSS-denied outdoor terrains such as dense urban or forests. In this paper, we present a novel accurate, robust and…

We present a novel monocular localization framework by jointly training deep learning-based depth prediction and Bayesian filtering-based pose reasoning. The proposed cross-modal framework significantly outperforms deep learning-only…

Commonly, learning-based topological navigation approaches produce a local policy while preserving some loose connectivity of the space through a topological map. Nevertheless, spurious or missing edges in the topological graph often lead…

Deploying autonomous agents in real world environments is challenging, particularly for navigation, where systems must adapt to situations they have not encountered before. Traditional learning approaches require substantial amounts of…

This paper addresses the challenge of navigation in large, visually complex environments with sparse rewards. We propose a method that uses object-oriented macro actions grounded in a topological map, allowing a simple Deep Q-Network (DQN)…

Pose estimation is essential for robotic manipulation, particularly when visual perception is occluded during gripper-object interactions. Existing tactile-based methods generally rely on tactile simulation or pre-trained models, which…

In this study, we introduce an online monocular lane mapping approach that solely relies on a single camera and odometry for generating spline-based maps. Our proposed technique models the lane association process as an assignment issue…

Localization is a critical technology in autonomous driving, encompassing both topological localization, which identifies the most similar map keyframe to the current observation, and metric localization, which provides precise spatial…

Visual localization is crucial for Computer Vision and Augmented Reality (AR) applications, where determining the camera or device's position and orientation is essential to accurately interact with the physical environment. Traditional…

Optical cameras are gaining popularity as the suitable sensor for relative navigation in space due to their attractive sizing, power and cost properties when compared to conventional flight hardware or costly laser-based systems. However, a…

We present COMO, a real-time monocular mapping and odometry system that encodes dense geometry via a compact set of 3D anchor points. Decoding anchor point projections into dense geometry via per-keyframe depth covariance functions…

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…

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…

Localization using a monocular camera in the pre-built LiDAR point cloud map has drawn increasing attention in the field of autonomous driving and mobile robotics. However, there are still many challenges (e.g. difficulties of map storage,…

Multi-robot navigation in unknown, structurally constrained, and GPS-denied environments presents a fundamental trade-off between global strategic foresight and local tactical agility, particularly under limited communication. Centralized…