11 accepted papers
A good representation of a large, complex mobile robot workspace must be space-efficient yet capable of encoding relevant geometric details. When exploring unknown environments, it needs to be updatable incrementally in an online fashion. We introduce HIO-SDF, a new method that represents the enviro…
We study the problem of aligning a video that captures a local portion of an environment to the 2D LiDAR scan of the entire environment. We introduce a method (VioLA) that starts with building a semantic map of the local scene from the image sequence, then extracts points at a fixed height for regis…
Simulation has been a necessary, safe testbed for robotics systems (RS). However, testing in simulation alone is not enough for robotic systems operating in close proximity, or interacting directly with, humans, because simulated humans are very limited. Furthermore, testing with real humans can be…
The representation of the environment strongly affects how robots can move and interact with it. This paper presents an online approach for continuous mapping using Gaussian Process Implicit Surfaces (GPISs). Compared with grid-based methods, GPIS better utilizes sparse measurements to represent the…
We present a novel method enabling robots to quickly learn to manipulate objects by leveraging a motion planner to generate “expert” training trajectories from a small amount of human-labeled data. In contrast to the traditional sense-plan-act cycle, we propose a deep learning architecture and train…
This paper presents a novel constrained, sampling-based motion planning method for grasp and transport tasks with a redundant robotic manipulator. We utilize a planning margin for grasping with constraints that allow the best grasp configuration and approach direction to be determined automatically.…
This paper presents a novel adaptive approach to fast sampling-based motion planning by learning models of collision and collision-free regions in configuration spaces in an online manner. The proposed approach incrementally learns Gaussian Mixture Models (GMMs) for collision detection in high dimen…
This paper presents a self-supervised online learning approach for 3D object tracking that requires no pretraining of appearance. Our method focuses on selecting the most relevant parts of the RGBD input by continuously updating appearance classifiers in conjunction with the spatial occupancy of the…
This paper presents an online learning approach to 3D object registration that vastly improves the performance of Iterative Closest Point (ICP) methods. Our approach achieves better robustness and stable convergence by learning generalized distance functions directly from a stream of object depth da
This paper presents an online self-supervised approach to improve the quality and relevance of input point cloud to a 3D registration algorithm. The suggested method considers the visibility of the model points and learns discriminative appearance of the object under gradual changes. It selectively…
This paper presents an online self-supervised approach to monocular visual odometry and ground classification applied to ground vehicles. We solve the motion and structure problem based on a constrained kinematic model. The true scale of the monocular scene is recovered by estimating the ground surf…