research
∙
09/20/2023
2D-3D Pose Tracking with Multi-View Constraints
Camera localization in 3D LiDAR maps has gained increasing attention due...
share
research
∙
08/01/2023
AnyLoc: Towards Universal Visual Place Recognition
Visual Place Recognition (VPR) is vital for robot localization. To date,...
research
∙
07/27/2023
Multi-Robot Multi-Room Exploration with Geometric Cue Extraction and Spherical Decomposition
This work proposes an autonomous multi-robot exploration pipeline that c...
research
∙
07/11/2023
Pegasus Simulator: An Isaac Sim Framework for Multiple Aerial Vehicles Simulation
Developing and testing novel control and motion planning algorithms for ...
research
∙
06/28/2023
Image-based Visual Servo Control for Aerial Manipulation Using a Fully-Actuated UAV
Using Unmanned Aerial Vehicles (UAVs) to perform high-altitude manipulat...
research
∙
06/20/2023
Time-Optimal Path Planning in a Constant Wind for Uncrewed Aerial Vehicles using Dubins Set Classification
Time-optimal path planning in high winds for a turning rate constrained ...
research
∙
05/12/2023
A Simulator for Fully-Actuated UAVs
This workshop paper presents the challenges we encountered when simulati...
research
∙
04/04/2023
Learned Tree Search for Long-Horizon Social Robot Navigation in Shared Airspace
The fast-growing demand for fully autonomous aerial operations in shared...
research
∙
01/31/2023
Learning Risk-Aware Costmaps via Inverse Reinforcement Learning for Off-Road Navigation
The process of designing costmaps for off-road driving tasks is often a ...
research
∙
12/06/2022
UAS Simulator for Modeling, Analysis and Control in Free Flight and Physical Interaction
This paper presents the ARCAD simulator for the rapid development of Unm...
research
∙
12/06/2022
Attention-Enhanced Cross-modal Localization Between 360 Images and Point Clouds
Visual localization plays an important role for intelligent robots and a...
research
∙
11/21/2022
PVT++: A Simple End-to-End Latency-Aware Visual Tracking Framework
Visual object tracking is an essential capability of intelligent robots....
research
∙
11/13/2022
Challenges in Close-Proximity Safe and Seamless Operation of Manned and Unmanned Aircraft in Shared Airspace
We propose developing an integrated system to keep autonomous unmanned a...
research
∙
10/19/2022
Pseudo-Label Noise Suppression Techniques for Semi-Supervised Semantic Segmentation
Semi-supervised learning (SSL) can reduce the need for large labelled da...
research
∙
10/05/2022
TartanCalib: Iterative Wide-Angle Lens Calibration using Adaptive SubPixel Refinement of AprilTags
Wide-angle cameras are uniquely positioned for mobile robots, by virtue ...
research
∙
09/28/2022
360FusionNeRF: Panoramic Neural Radiance Fields with Joint Guidance
We present a method to synthesize novel views from a single 360^∘ panora...
research
∙
09/27/2022
Follow The Rules: Online Signal Temporal Logic Tree Search for Guided Imitation Learning in Stochastic Domains
Seamlessly integrating rules in Learning-from-Demonstrations (LfD) polic...
research
∙
09/22/2022
How Does It Feel? Self-Supervised Costmap Learning for Off-Road Vehicle Traversability
Estimating terrain traversability in off-road environments requires reas...
research
∙
09/22/2022
MUI-TARE: Multi-Agent Cooperative Exploration with Unknown Initial Position
Multi-agent exploration of a bounded 3D environment with unknown initial...
research
∙
09/17/2022
DytanVO: Joint Refinement of Visual Odometry and Motion Segmentation in Dynamic Environments
Learning-based visual odometry (VO) algorithms achieve remarkable perfor...
research
∙
09/14/2022
iSimLoc: Visual Global Localization for Previously Unseen Environments with Simulated Images
The visual camera is an attractive device in beyond visual line of sight...
research
∙
09/09/2022
General Place Recognition Survey: Towards the Real-world Autonomy Age
Place recognition is the fundamental module that can assist Simultaneous...
research
∙
08/30/2022
BioSLAM: A Bio-inspired Lifelong Memory System for General Place Recognition
We present BioSLAM, a lifelong SLAM framework for learning various new a...
research
∙
08/02/2022
Present and Future of SLAM in Extreme Underground Environments
This paper reports on the state of the art in underground SLAM by discus...
research
∙
07/19/2022
ALTO: A Large-Scale Dataset for UAV Visual Place Recognition and Localization
We present the ALTO dataset, a vision-focused dataset for the developmen...
research
∙
07/14/2022
AutoMerge: A Framework for Map Assembling and Smoothing in City-scale Environments
We present AutoMerge, a LiDAR data processing framework for assembling a...
research
∙
07/06/2022
SphereVLAD++: Attention-based and Signal-enhanced Viewpoint Invariant Descriptor
LiDAR-based localization approach is a fundamental module for large-scal...
research
∙
06/01/2022
VTOL Failure Detection and Recovery by Utilizing Redundancy
Offering vertical take-off and landing (VTOL) capabilities and the abili...
research
∙
05/22/2022
Robust Modeling and Controls for Racing on the Edge
Race cars are routinely driven to the edge of their handling limits in d...
research
∙
05/22/2022
ALITA: A Large-scale Incremental Dataset for Long-term Autonomy
For long-term autonomy, most place recognition methods are mainly evalua...
research
∙
05/17/2022
Detection and Physical Interaction with Deformable Linear Objects
Deformable linear objects (e.g., cables, ropes, and threads) commonly ap...
research
∙
05/11/2022
Design, Modeling and Control for a Tilt-rotor VTOL UAV in the Presence of Actuator Failure
Providing both the vertical take-off and landing capabilities and the ab...
research
∙
05/03/2022
TartanDrive: A Large-Scale Dataset for Learning Off-Road Dynamics Models
We present TartanDrive, a large scale dataset for learning dynamics mode...
research
∙
03/24/2022
TIGRIS: An Informed Sampling-based Algorithm for Informative Path Planning
Informative path planning is an important and challenging problem in rob...
research
∙
11/23/2021
AdaFusion: Visual-LiDAR Fusion with Adaptive Weights for Place Recognition
Recent years have witnessed the increasing application of place recognit...
research
∙
11/05/2021
Semantic Consistency in Image-to-Image Translation for Unsupervised Domain Adaptation
Unsupervised Domain Adaptation (UDA) aims to adapt models trained on a s...
research
∙
10/07/2021
Adaptive Safety Margin Estimation for Safe Real-Time Replanning under Time-Varying Disturbance
Safe navigation in real-time is challenging because engineers need to wo...
research
∙
09/30/2021
Predicting Like A Pilot: Dataset and Method to Predict Socially-Aware Aircraft Trajectories in Non-Towered Terminal Airspace
Pilots operating aircraft in un-towered airspace rely on their situation...
research
∙
09/28/2021
Targetless Extrinsic Calibration of Stereo Cameras, Thermal Cameras, and Laser Sensors in the Wild
The fusion of multi-modal sensors has become increasingly popular in aut...
research
∙
09/24/2021
Toward Efficient and Robust Multiple Camera Visual-inertial Odometry
Efficiency and robustness are the essential criteria for the visual-iner...
research
∙
08/20/2021
Unified Representation of Geometric Primitives for Graph-SLAM Optimization Using Decomposed Quadrics
In Simultaneous Localization And Mapping (SLAM) problems, high-level lan...
research
∙
08/12/2021
3D-SiamRPN: An End-to-End Learning Method for Real-Time 3D Single Object Tracking Using Raw Point Cloud
3D single object tracking is a key issue for autonomous following robot,...
research
∙
08/09/2021
3D Human Reconstruction in the Wild with Collaborative Aerial Cameras
Aerial vehicles are revolutionizing applications that require capturing ...
research
∙
07/03/2021
Carnegie Mellon Team Tartan: Mission-level Robustness with Rapidly Deployed Autonomous Aerial Vehicles in the MBZIRC 2020
For robotics systems to be used in high risk, real-world situations, the...
research
∙
05/31/2021
CVaR-based Flight Energy Risk Assessment for Multirotor UAVs using a Deep Energy Model
Energy management is a critical aspect of risk assessment for Uncrewed A...
research
∙
05/27/2021
3D Segmentation Learning from Sparse Annotations and Hierarchical Descriptors
One of the main obstacles to 3D semantic segmentation is the significant...
research
∙
05/27/2021
i3dLoc: Image-to-range Cross-domain Localization Robust to Inconsistent Environmental Conditions
We present a method for localizing a single camera with respect to a poi...
research
∙
05/10/2021
VDB-EDT: An Efficient Euclidean Distance Transform Algorithm Based on VDB Data Structure
This paper presents a fundamental algorithm, called VDB-EDT, for Euclide...
research
∙
04/30/2021
Super Odometry: IMU-centric LiDAR-Visual-Inertial Estimator for Challenging Environments
We propose Super Odometry, a high-precision multi-modal sensor fusion fr...
research
∙
04/02/2021