6 accepted papers
Accurate positioning is crucial in the construction industry, where labor shortages highlight the need for automation. Robotic systems with long kinematic chains are required to reach complex workspaces, including floors, walls, and ceilings. These requirements significantly impact positioning accur
Robust robot navigation in outdoor environments requires accurate perception systems capable of handling visual challenges such as repetitive structures and changing appearances. Visual feature matching is crucial to vision-based pipelines but remains particularly challenging in natural outdoor sett
Robots are usually equipped with 3D range sensors such as laser line scanners (LLSs) or lidars. These sensors acquire a full 3D scan in a line by line manner while the robot is in motion. All the lines can be referred to a common coordinate frame using data from inertial sensors. However, errors fro
Exploration is a fundamental problem in robot autonomy. A major limitation, however, is that during exploration robots oftentimes have to rely on on-board systems alone for state estimation, accumulating significant drift over time in large environments. Drift can be detrimental to robot safety and
In many applications, maintaining a consistent map of the environment is key to enabling robotic platforms to perform higher-level decision making. Detection of already visited locations is one of the primary ways in which map consistency is maintained, especially in situations where external positi…
In many applications, maintaining a consistent dense map of the environment is key to enabling robotic platforms to perform higher level decision making. Several works have addressed the challenge of creating precise dense 3D maps from visual sensors providing depth information. However, during oper…