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VIZARD: Reliable Visual Localization for Autonomous Vehicles in Urban Outdoor Environments
(2019)2019 IEEE Intelligent Vehicles Symposium (IV)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 -
Object Classification Based on Unsupervised Learned Multi-Modal Features For Overcoming Sensor Failures
(2019)2019 International Conference on Robotics and Automation (ICRA)Conference Paper -
An Approach for Semantic Segmentation of Tree-like Vegetation
(2019)2019 International Conference on Robotics and Automation (ICRA)Conference Paper -
A data-driven approach for pedestrian intention estimation
(2016)2016 IEEE 19th International Conference on Intelligent Transportation Systems (ITSC)Conference Paper -
Robust Visual Place Recognition with Graph Kernels
(2016)Proceedings of the 29th IEEE Conference on Computer Vision and Pattern Recognition (CVPR 2016)Conference Paper -
SegMatch: Segment based place recognition in 3D point clouds
(2017)2017 IEEE International Conference on Robotics and Automation (ICRA)Conference Paper -
Online informative path planning for active classification using UAVs
(2017)Proceedings of the 2017 IEEE International Conference on Robotics and Automation (ICRA)Conference Paper -
A Decentralized Multi-Agent Unmanned Aerial System to Search, Pick Up, and Relocate Objects
(2017)Proceedings of 2017 IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR)Conference Paper -
Flexible Trinocular: Non-rigid Multi-Camera-IMU Dense Reconstruction for UAV Navigation and Mapping
(2019)2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)In this paper, we propose a visual-inertial framework able to efficiently estimate the camera poses of a non-rigid trinocular baseline for long-range depth estimation on-board a fast moving aerial platform. The estimation of the time-varying baseline is based on relative inertial measurements, a photometric relative pose optimizer, and a probabilistic wing model fused in an efficient Extended Kalman Filter (EKF) formulation. The estimated ...Conference Paper