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Feeling Fireworks
(2017)Adjunct Publication of the 30th Annual ACM Symposium on User Interface Software and Technology (UIST '17)Conference Paper -
Infrastructure-based calibration of a multi-camera rig
(2014)2014 IEEE International Conference on Robotics and Automation (ICRA)The online recalibration of multi-sensor systems is a fundamental problem that must be solved before complex automated systems are deployed in situations such as automated driving. In such situations, accurate knowledge of calibration parameters is critical for the safe operation of automated systems. However, most existing calibration methods for multisensor systems are computationally expensive, use installations of known fiducial ...Conference Paper -
Long-term 3D map maintenance in dynamic environments
(2014)2014 IEEE International Conference on Robotics and Automation (ICRA)New applications of mobile robotics in dynamic urban areas require more than the single-session geometric maps that have dominated simultaneous localization and mapping (SLAM) research to date; maps must be updated as the environment changes and include a semantic layer (such as road network information) to aid motion planning in dynamic environments. We present an algorithm for long-term localization and mapping in real time using a ...Conference Paper -
Object Finding in Cluttered Scenes Using Interactive Perception
(2020)2020 IEEE International Conference on Robotics and Automation (ICRA)Object finding in clutter is a skill that requires perception of the environment and in many cases physical interaction. In robotics, interactive perception defines a set of algorithms that leverage actions to improve the perception of the environment, and vice versa use perception to guide the next action. Scene interactions are difficult to model, therefore, most of the current systems use predefined heuristics. This limits their ability ...Conference Paper -
Learning Camera Miscalibration Detection
(2020)2020 IEEE International Conference on Robotics and Automation (ICRA)Self-diagnosis and self-repair are some of the key challenges in deploying robotic platforms for long-term real-world applications. One of the issues that can occur to a robot is miscalibration of its sensors due to aging, environmental transients, or external disturbances. Precise calibration lies at the core of a variety of applications, due to the need to accurately perceive the world. However, while a lot of work has focused on ...Conference Paper -
Towards Real-time Multi-Sensor Information Retrieval in Cloud Robotic System
(2012)2012 IEEE Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)Cloud Robotics is currently driving interest in both academia and industry. It allows different types of robots to share information and develop new skills even without specific sensors. They can also perform intensive tasks by combining multiple robots with a cooperative manner. Multi-sensor data retrieval is one of the fundamental tasks for resource sharing demanded by Cloud Robotic system. However, many technical challenges persist, ...Conference Paper -
SFly: Swarm of micro flying robots
(2012)2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2012)The SFly project is an EU-funded project, with the goal to create a swarm of autonomous vision controlled micro aerial vehicles. The mission in mind is that a swarm of MAV's autonomously maps out an unknown environment, computes optimal surveillance positions and places the MAV's there and then locates radio beacons in this environment. The scope of the work includes contributions on multiple different levels ranging from theoretical ...Conference Paper -
Paraswift - a Hybrid Climbing and Base Jumping Robot for Entertaiment
(2011)Field Robotics: Proceedings of the 14th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines , University Pierre et Marie Curie (UPMC), Paris, France , 6-8 September 2011Conference Paper -
PoseMap: Lifelong, Multi-Environment 3D LiDAR Localization
(2018)2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)Reliable long-term localization is key for robotic systems in dynamic environments. In this paper, we propose a novel approach for long-term localization using 3D LiDARs, coined PoseMap. In essence, we extract distinctive features from range measurements and bundle these into local views along with observation poses. The sensor's trajectory is then estimated in a sliding window fashion by matching current and old features and minimizing ...Conference Paper -
Towards Autonomous Stratospheric Flight: A Generic Global System Identification Framework for Fixed-Wing Platforms
(2018)2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)System identification of High Altitude Long Endurance fixed-wing aerial vehicles is challenging as its operating flight envelope covers wide ranges of altitudes and Mach numbers. We present a new global system identification framework geared towards such fixed-wing aerial platforms where the aim is to build a global aerodynamic model without many repetitions of local system identification procedures or the use of any aerodynamic database. ...Conference Paper