相关论文: OpenNavMap: Structure-Free Topometric Mapping via …
Accurate and robust global localization is essential to robotics applications. We propose a novel global localization method that employs the map traversability as a hidden observation. The resulting map-corrected odometry localization is…
The employment of unmanned aerial vehicles (UAVs) in the lowaltitude economy necessitates precise and real-time radio maps for reliable communication and safe navigation. However, constructing such maps is hindered by the infeasibility of…
In this work, we propose the LiDAR Road-Atlas, a compactable and efficient 3D map representation, for autonomous robot or vehicle navigation in general urban environment. The LiDAR Road-Atlas can be generated by an online mapping framework…
Trajectory planning in unstructured environments is a fundamental and challenging capability for mobile robots. Traditional modular pipelines suffer from latency and cascading errors across perception, localization, mapping, and planning…
Safe robot navigation is a fundamental research field for autonomous robots including ground mobile robots and flying robots. The primary objective of a safe robot navigation algorithm is to guide an autonomous robot from its initial…
Visual navigation in robotics traditionally relies on globally-consistent 3D maps or learned controllers, which can be computationally expensive and difficult to generalize across diverse environments. In this work, we present a novel…
Perception still remains a challenging problem for autonomous navigation in unknown environment, especially for aerial vehicles. Most mapping algorithms for autonomous navigation are specifically designed for their very intended task, which…
High-definition maps (HD maps) are a key component of most modern self-driving systems due to their valuable semantic and geometric information. Unfortunately, building HD maps has proven hard to scale due to their cost as well as the…
The ability to simulate the world in a spatially consistent manner is a crucial requirement for effective world models. Such a model enables high-quality visual generation, and also ensures the reliability of world models for downstream…
The operational environments in which a mobile robot executes its missions often exhibit non-flat terrain characteristics, encompassing outdoor and indoor settings featuring ramps and slopes. In such scenarios, the conventional…
Unmanned and intelligent agricultural systems are crucial for enhancing agricultural efficiency and for helping mitigate the effect of labor shortage. However, unlike urban environments, agricultural fields impose distinct and unique…
Today's software stacks for autonomous vehicles rely on HD maps to enable sufficient localization, accurate path planning, and reliable motion prediction. Recent developments have resulted in pipelines for the automated generation of HD…
Traditional robot navigation systems primarily utilize occupancy grid maps and laser-based sensing technologies, as demonstrated by the popular move_base package in ROS. Unlike robots, humans navigate not only through spatial awareness and…
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…
High-definition (HD) maps, particularly those containing lane-level information regarded as ground truth, are crucial for vehicle localization research. Traditionally, constructing HD maps requires highly accurate sensor measurements…
Zero-shot object navigation is a challenging task for home-assistance robots. This task emphasizes visual grounding, commonsense inference and locomotion abilities, where the first two are inherent in foundation models. But for the…
3D mapping in dynamic environments poses a challenge for modern researchers in robotics and autonomous transportation. There are no universal representations for dynamic 3D scenes that incorporate multimodal data such as images, point…
This paper discusses a large-scale and long-term mapping and localization scenario using the maplab open-source framework. We present a brief overview of the specific algorithms in the system that enable building a consistent map from…
Traversability estimation in off-road terrains is an essential procedure for autonomous navigation. However, creating reliable labels for complex interactions between the robot and the surface is still a challenging problem in…
For scalable autonomous driving, a robust map-based localization system, independent of GPS, is fundamental. To achieve such map-based localization, online high-definition (HD) map construction plays a significant role in accurate…