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Improving the Expressiveness of Mobile Robots
(2002)Proceedings - IEEE International Workshop on Robot and Human Interactive CommunicationConference Paper -
Real-time visual-inertial mapping, re-localization and planning onboard MAVs in unknown environments
(2015)2015 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 -
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 -
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Control of a High Performance 3 DOF Linear Direct Drive Operating with Submicron Precision
(1998)The Fourth International Conference on Motion and Vibration Control. ProceedingsConference Paper -
End-Point Control of Fast and Precise Macro/Micro-Manipulators
(1998)The Fourth International Conference on Motion and Vibration Control. ProceedingsThis paper presents a high performance macro/micro-manipulator architecture for rapid and precise positioning operations. The control approach si based on end-point position measurements in a limited range. Since the macro-manipulator can't be controlled precisely at high speed, due to structure and joint flexibility, the micro-manipulator is controlled to correct possible misalignments between the end-point relative to the target and ...Conference Paper -
Micro-Assembly using Auditory Display of Force Feedback
(1999)Proceedings of SPIE ~ Microrobotics and MicroassemblyTo assemble hinged MEMS structures, a probe station with visual feedback has been used. With a feedback in the visual domain only, the assembly operation is really long and tedious. This paper presents the improvements using a force sensor with sound feedback coupled with vision. The developed interface allows the user to `hear the forces'. Thereby, the time and the sensitivity of the assembly operation are improved. Using the auditory ...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