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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 -
Fast Image-Anomaly Mitigation for Autonomous Mobile Robots
(2021)2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)Camera anomalies like rain or dust can severely degrade image quality and its related tasks, such as localization and segmentation. In this work we address this important issue by implementing a pre-processing step that can effectively mitigate such artifacts in a real-time fashion, thus supporting the deployment of autonomous systems with limited compute capabilities. We propose a shallow generator with aggregation, trained in an adversarial ...Conference Paper -
Dynamic Object Aware LiDAR SLAM based on Automatic Generation of Training Data
(2021)2021 IEEE International Conference on Robotics and Automation (ICRA)Highly dynamic environments, with moving objects such as cars or humans, can pose a performance challenge for LiDAR SLAM systems that assume largely static scenes. To overcome this challenge and support the deployment of robots in real world scenarios, we propose a complete solution for a dynamic object aware LiDAR SLAM algorithm. This is achieved by leveraging a real-time capable neural network that can detect dynamic objects, thus ...Conference Paper