相关论文: Terrain-Adaptive Mobile 3D Printing with Hierarchi…
Advances in Generative AI tools have allowed designers to manipulate existing 3D models using text or image-based prompts, enabling creators to explore different design goals. Photochromic color-changing systems, on the other hand, allow…
Non-rigid 3D mesh matching is a critical step in computer vision and computer graphics pipelines. We tackle matching meshes that contain topological artefacts which can break the assumption made by current approaches. While Functional Maps…
The combination of aerial survey capabilities of Unmanned Aerial Vehicles with targeted intervention abilities of agricultural Unmanned Ground Vehicles can significantly improve the effectiveness of robotic systems applied to precision…
Onboard terrain sensing and mapping for safe planetary landings often suffer from missed hazardous features, e.g., small rocks, due to the large observational range and the limited resolution of the obtained terrain data. To this end, this…
Shape deviation modeling and compensation in additive manufacturing are pivotal for achieving high geometric accuracy and enabling industrial-scale production. Critical challenges persist, including generalizability across complex…
In this work, we present a pragmatic approach to enable unmanned aerial vehicle (UAVs) to autonomously perform highly complicated tasks of object pick and place. This paper is largely inspired by challenge-2 of MBZIRC 2020 and is primarily…
We study the problem of target stabilization with robust obstacle avoidance in robots and vehicles that have access only to vision-based sensors for the purpose of realtime localization. This problem is particularly challenging due to the…
The development of safe and reliable autonomous unmanned aerial vehicles relies on the ability of the system to recognise and adapt to changes in the local environment based on sensor inputs. State-of-the-art local tracking and trajectory…
Autonomous navigation of ground robots has been widely used in indoor structured 2D environments, but there are still many challenges in outdoor 3D unstructured environments, especially in rough, uneven terrains. This paper proposed a…
Terrain understanding is fundamental for mobile robots operating in unstructured outdoor environments. Existing vision-based traversability estimation methods rely on robot-specific annotations or semantic class mappings, limiting…
Autonomous locomotion for mobile ground robots in unstructured environments such as waypoint navigation or flipper control requires a sufficiently accurate prediction of the robot-terrain interaction. Heuristics like occupancy grids or…
Recent advances in automated vehicles have focused on improving perception performance under adverse weather conditions; however, research on physical hardware solutions remains limited, despite their importance for perception critical…
The rapid development of 3D acquisition technology has made it possible to obtain point clouds of real-world terrains. However, due to limitations in sensor acquisition technology or specific requirements, point clouds often contain defects…
We propose an unsupervised method for parsing large 3D scans of real-world scenes with easily-interpretable shapes. This work aims to provide a practical tool for analyzing 3D scenes in the context of aerial surveying and mapping, without…
Current motion planning approaches for autonomous mobile robots often assume that the low level controller of the system is able to track the planned motion with very high accuracy. In practice, however, tracking error can be affected by…
Collapsing terrains, often present in search and rescue missions or planetary exploration, pose significant challenges for quadruped robots. This paper introduces a robust locomotion framework for safe navigation over unstable surfaces by…
Unmanned aerial vehicles (UAVs) can offer timely and cost-effective delivery of high-quality sensing data. How- ever, deciding when and where to take measurements in complex environments remains an open challenge. To address this issue, we…
Multi-robot formation control has various applications in domains such as vehicle troops, platoons, payload transportation, and surveillance. Maintaining formation in a vehicle platoon requires designing a suitable control scheme that can…
Creating accurate spatial representations that take into account uncertainty is critical for autonomous robots to safely navigate in unstructured environments. Although recent LIDAR based mapping techniques can produce robust occupancy…
Unexposed environments, such as lava tubes, mines, and tunnels, are among the most complex yet strategically significant domains for scientific exploration and infrastructure development. Accurate and real-time 3D meshing of these…