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Leveraging Stereo-Camera Data for Real-Time Dynamic Obstacle Detection and Tracking
(2020)2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)Dynamic obstacle avoidance is one crucial component for compliant navigation in crowded environments. In this paper we present a system for accurate and reliable detection and tracking of dynamic objects using noisy point cloud data generated by stereo cameras. Our solution is real-time capable and specifically designed for the deployment on computationally-constrained unmanned ground vehicles. The proposed approach identifies individual ...Conference Paper -
Map Management for Efficient Long-Term Visual Localization in Outdoor Environments
(2018)2018 IEEE Intelligent Vehicles Symposium (IV)Conference Paper -
Efficient descriptor learning for large scale localization
(2017)2017 IEEE International Conference on Robotics and Automation (ICRA)Conference Paper -
Map quality evaluation for visual localization
(2017)2017 IEEE International Conference on Robotics and Automation (ICRA)Conference Paper -
Reshaping our model of the world over time
(2016)2016 IEEE International Conference on Robotics and Automation (ICRA)Conference Paper -
Erasing bad memories: Agent-side summarization for long-term mapping
(2016)2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)Conference Paper -
Robust map generation for fixed-wing UAVs with low-cost highly-oblique monocular cameras
(2016)2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)Conference Paper -
Keep it brief: Scalable creation of compressed localization maps
(2015)2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)Conference Paper -
The gist of maps-summarizing experience for lifelong localization
(2015)2015 IEEE International Conference on Robotics and Automation (ICRA)Conference Paper