Gianluca Cesari — accepted AI-conference papers

2020

Leveraging Stereo-Camera Data for Real-Time Dynamic Obstacle Detection and Tracking

Thomas Eppenberger, Gianluca Cesari, Marcin Dymczyk, Roland Siegwart, Renaud Dubé

IROS 2020poster

Dynamic obstacle avoidance is one crucial component for compliant navigation in crowded environments. In this paper we present a system for accurate and reliable detection and tracking of dynamic objects using noisy point cloud data generated by stereo cameras. Our solution is real-time capable and…

Cited by 66 Source ↗Scholar ↗

2020

Robot Navigation in Crowded Environments Using Deep Reinforcement Learning

Lucia Liu, Daniel Dugas, Gianluca Cesari, Roland Siegwart, Renaud Dubé

IROS 2020poster

Mobile robots operating in public environments require the ability to navigate among humans and other obstacles in a socially compliant and safe manner. This work presents a combined imitation learning and deep reinforcement learning approach for motion planning in such crowded and cluttered environ…

Cited by 142 Source ↗Scholar ↗