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LCD – Line Clustering and Description for Place Recognition
(2020)2020 International Conference on 3D Vision (3DV)Current research on visual place recognition mostly focuses on aggregating local visual features of an image into a single vector representation. Therefore, high-level information such as the geometric arrangement of the features is typically lost. In this paper, we introduce a novel learning-based approach to place recognition, using RGB-D cameras and line clusters as visual and geometric features. We state the place recognition problem ...Conference Paper -
MOZARD: Multi-Modal Localization for Autonomous Vehicles in Urban Outdoor Environments
(2020)2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)Visually poor scenarios are one of the main sources of failure in visual localization systems in outdoor environments. To address this challenge, we present MOZARD, a multi-modal localization system for urban outdoor environments using vision and LiDAR. By fusing key point based visual multi-session information with semantic data, an improved localization recall can be achieved across vastly different appearance conditions. In particular ...Conference Paper -
Accurate Mapping and Planning for Autonomous Racing
(2020)2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)This paper presents the perception, mapping, and planning pipeline implemented on an autonomous race car. It was developed by the 2019 AMZ driverless team for the Formula Student Germany (FSG) 2019 driverless competition, where it won 1st place overall. The presented solution combines early fusion of camera and LiDAR data, a layered mapping approach, and a planning approach that uses Bayesian filtering to achieve high-speed driving on ...Conference Paper -
Spherical Multi-Modal Place Recognition for Heterogeneous Sensor Systems
(2021)2021 IEEE International Conference on Robotics and Automation (ICRA)In this paper, we propose a robust end-to-end multi-modal pipeline for place recognition where the sensor systems can differ from the map building to the query. Our approach operates directly on images and LiDAR scans without requiring any local feature extraction modules. By projecting the sensor data onto the unit sphere, we learn a multi-modal descriptor of partially overlapping scenes using a spherical convolutional neural network. ...Conference Paper -
Dynamic-Aware Autonomous Exploration in Populated Environments
(2021)2021 IEEE International Conference on Robotics and Automation (ICRA)Autonomous exploration allows mobile robots to navigate in initially unknown territories in order to build complete representations of the environments. In many real-life applications, environments often contain dynamic obstacles which can compromise the exploration process by temporarily blocking passages, narrow paths, exits or entrances to other areas yet to be explored. In this work, we formulate a novel exploration strategy capable ...Conference Paper -
3D3L: Deep Learned 3D Keypoint Detection and Description for LiDARs
(2021)2021 IEEE International Conference on Robotics and Automation (ICRA)With the advent of powerful, light-weight 3D LiDARs, they have become the hearth of many navigation and SLAM algorithms on various autonomous systems. Pointcloud registration methods working with unstructured pointclouds such as ICP are often computationally expensive or require a good initial guess. Furthermore, 3D feature-based registration methods have never quite reached the robustness of 2D methods in visual SLAM. With the continuously ...Conference Paper -
A Photorealistic Terrain Simulation Pipeline for Unstructured Outdoor Environments
(2021)2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)Suitable datasets are an integral part of robotics research, especially for training neural networks in robot perception. However, in many domains, suitable real-world data are scarce and cannot be easily obtained. This problem is especially prevalent for unstructured outdoor environments, in particular, planetary ones. Recent advances in photorealistic simulations help researchers to simulate close-to-real data in many domains. Yet, there ...Conference Paper -
Modelling and Estimation of Human Walking Gait for Physical Human-Robot Interaction
(2021)2021 Aerial Robotic Systems Physically Interacting with the Environment (AIRPHARO)An approach to model and estimate human walking kinematics in real-time for Physical Human-Robot Interaction is presented. The human gait velocity along the forward and vertical direction of motion is modelled according to the Yoyo-model. We designed an Extended Kalman Filter (EKF) algorithm to estimate the frequency, bias and trigonometric state of a biased sinusoidal signal, from which the kinematic parameters of the Yoyo-model can be ...Conference Paper -
MultiPoint: Cross-spectral registration of thermal and optical aerial imagery
(2020)Proceedings of Machine Learning Research ~ Proceedings of the 2020 Conference on Robot LearningWhile optical cameras are ubiquitous in robotics, some robots can sense the world in several sections of the electromagnetic spectrum simultaneously, which can extend their capabilities in fundamental ways. For instance, many fixed-wing UAVs carry both optical and thermal imaging cameras, potentially allowing them to detect temperature difference-induced atmospheric updrafts, map their locations, and adjust their flight path accordingly ...Conference Paper -
IAN: Multi-behavior navigation planning for robots in real, crowded environments
(2020)2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)State-of-the-art approaches for robot navigation among humans are typically restricted to planar movement actions. This work addresses the question of whether it can be beneficial to use interaction actions, such as saying, touching, and gesturing, for the sake of allowing robots to navigate in unstructured, crowded environments. To do so, we first identify challenging scenarios to traditional motion planning methods. Based on the hypothesis ...Conference Paper