10 accepted papers
Cutting-edge field robotic systems, such as UAV or autonomous cars, demand fast and optimal solutions for any component at the core of their critical navigational tasks. Among them, we focus on the triangulation of image points from multiple views, which is a cornerstone for more complex tasks such
We present a new fast Ground Decoupled 3D Lidar Odometry (GND-LO) method. The particularity of GND-LO is that it takes advantage of the distinct spatial layout found in urban settings to efficiently recover the lidar movement in a decoupled manner. For that, the input scans are reduced to a set of p
This letter presents Sigma-FP, a novel 3D reconstruction method to obtain the floor plan of a multi-room environment from a sequence of RGB-D images captured by a wheeled mobile robot. For each input image, the planar patches of visible walls are extracted and subsequently characterized by a multiva
Visual Place Recognition (VPR), the task of identifying the place where an image has been taken from, is at the core of important robotic problems as relocalization, loop-closure detection or topological navigation. Even for indoors, the focus of this work, VPR is challenging for a number of reasons
The fusion of visual and inertial measurements is becoming more and more popular in the robotics community since both sources of information complement each other well. However, in order to perform this fusion, the biases of the Inertial Measurement Unit (IMU) as well as the direction of gravity mus
Gas source localization (GSL) by an olfactory robot is a research field with a great potential for applications but also with numerous unsolved challenges, particularly when the search must take place in realistic, indoor environments that feature obstacles and turbulent airflows. In this work, we p
In order to fuse measurements from multiple sensors mounted on a mobile robot, it is needed to express them in a common reference system through their relative spatial transformations. In this letter, we present a method to estimate the full 6-DoF extrinsic calibration parameters of multiple heterog
This work addresses the fundamental problem of pose graph optimization (PGO), which is pervasive in the context of SLAM, and widely known as SE(d)-synchronization in the mathematical community. Our contribution is twofold. First, we provide a novel, elegant, and compact matrix formulation of the max
In this paper we present a fast and precise method to estimate the planar motion of a lidar from consecutive range scans. For every scanned point we formulate the range flow constraint equation in terms of the sensor velocity, and minimize a robust function of the resulting geometric constraints to
Most approaches to stereo visual odometry reconstruct the motion based on the tracking of point features along a sequence of images. However, in low-textured scenes it is often difficult to encounter a large set of point features, or it may happen that they are not well distributed over the image, s