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08/10/2023
Robust Lifelong Indoor LiDAR Localization using the Area Graph
Lifelong indoor localization in a given map is the basis for navigation ...
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07/19/2023
Optimizing the extended Fourier Mellin Transformation Algorithm
With the increasing application of robots, stable and efficient Visual O...
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03/21/2023
The SLAM Hive Benchmarking Suite
Benchmarking Simultaneous Localization and Mapping (SLAM) algorithms is ...
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02/23/2023
CP+: Camera Poses Augmentation with Large-scale LiDAR Maps
Large-scale colored point clouds have many advantages in navigation or s...
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05/25/2022
Spotlights: Probing Shapes from Spherical Viewpoints
Recent years have witnessed the surge of learned representations that di...
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05/17/2022
Cluster on Wheels
This paper presents a very compact 16-node cluster that is the core of a...
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02/02/2022
Accurate calibration of multi-perspective cameras from a generalization of the hand-eye constraint
Multi-perspective cameras are quickly gaining importance in many applica...
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11/16/2021
Hierarchical Topometric Representation of 3D Robotic Maps
In this paper, we propose a method for generating a hierarchical, volume...
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11/17/2020
Improved Visual-Inertial Localization for Low-cost Rescue Robots
This paper improves visual-inertial systems to boost the localization ac...
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07/23/2020
Advanced Mapping Robot and High-Resolution Dataset
This paper presents a fully hardware synchronized mapping robot with sup...
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03/11/2020
Self-supervised Point Set Local Descriptors for Point Cloud Registration
In this work, we propose to learn local descriptors for point clouds in ...
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03/01/2020
Non-iterative One-step Solution for Point Set Registration Problem on Pose Estimation without Correspondence
In this work, we propose to directly find the one-step solution for the ...
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12/03/2019
Comparison and Evaluation of 2D and 3D Range Sensors
For mobile robots range sensors are important to perceive the environmen...
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12/03/2019
Room Detection for Topological Maps
Mapping is an important part of many robotic applications. In order to m...
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12/03/2019
Evaluation of Smartphone IMUs for Small Mobile Search and Rescue Robots
Small mobile robots are an important class of Search and Rescue Robots. ...
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11/18/2019
Fast 2D Map Matching Based on Area Graphs
We present a novel area matching algorithm for merging two different 2D ...
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11/15/2019
Fine-grained Qualitative Spatial Reasoning about Point Positions
The ability to persist in the spacial environment is, not only in the ro...
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11/02/2019
Furniture Free Mapping using 3D Lidars
Mobile robots depend on maps for localization, planning, and other appli...
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11/02/2019
Furniture Free Mapping
Mobile robots depend on maps for localization, planning and other applic...
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10/02/2019
Pose Estimation for Omni-directional Cameras using Sinusoid Fitting
We propose a novel pose estimation method for geometric vision of omni-d...
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10/01/2019
Area Graph: Generation of Topological Maps using the Voronoi Diagram
Representing a scanned map of the real environment as a topological stru...
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09/27/2019
Mapping with Reflection – Detection and Utilization of Reflection in 3D Lidar Scans
This paper presents a method to detect reflection with 3D light detectio...
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09/23/2019
Improving CNN-based Planar Object Detection with Geometric Prior Knowledge
In this paper, we focus on the question: how might mobile robots take ad...
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09/23/2019
Path Planning Tolerant to Degraded Locomotion Conditions
Mobile robots, especially those driving outdoors and in unstructured ter...
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09/17/2019
Configuration-Space Flipper Planning on 3D Terrain
Autonomous run is always a goal in the field of rescue robot and the uti...
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06/12/2019
Adaptive Navigation Scheme for Optimal Deep-Sea Localization Using Multimodal Perception Cues
Underwater robot interventions require a high level of safety and reliab...
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05/27/2019
Heterogeneous Multi-sensor Calibration based on Graph Optimization
Many robotics and mapping systems contain multiple sensors to perceive t...
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05/23/2019
Towards Generation and Evaluation of Comprehensive Mapping Robot Datasets
This paper presents a fully hardware synchronized mapping robot with sup...
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05/23/2019
Depth Estimation on Underwater Omni-directional Images Using a Deep Neural Network
In this work, we exploit a depth estimation Fully Convolutional Residual...
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05/08/2019
Configuration-Space Flipper Planning for Rescue Robots
For rescue robots, flipper endows the robot with additional ability to p...
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01/15/2019
Learning Autonomous Exploration and Mapping with Semantic Vision
We address the problem of autonomous exploration and mapping for a mobil...
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11/26/2018
Fast Gaussian Process Occupancy Maps
In this paper, we demonstrate our work on Gaussian Process Occupancy Map...
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11/13/2018
Topological Area Graph Generation and its Application to Path Planning
Representing a scanned map of the real environment as a topological stru...
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11/05/2018