4 accepted papers
Global localization lies at the heart of autonomous navigation and Simultaneous Localization and Mapping (SLAM). The appearance-based approach has been successful, but still faces many open challenges in environments where visual conditions vary significantly over time. In this paper, we propose an…
Visual place recognition is a fundamental problem for many vision based applications. Sparse feature and deep learning based methods have been successful and dominant over the decade. However, most of them do not explicitly leverage high-level semantic information to deal with challenging scenarios…
This paper presents a filtering algorithm for non-linear systems in the case of sensor degradation. The algorithm adapts the relative importance of the sensor measurements, compared to the model predictions, in real time; yielding a filter that is robust to noisy observations and sensor blackouts. T…
This paper introduces an adaptive tuning method for the controllers of a 4 degrees-of-freedom autonomous underwater vehicle. The proposed scheme consists of two control loops, one for position control and an inner one for velocity control. The gains of the controller are determined on-line, accordin…