5 accepted papers
Visual navigation has become a standard in robotic applications with the emergence of robust and versatile algorithms. In particular, Visual Odometry (VO) has proven to be the most reliable navigation solution for space missions to estimate an unmanned vehicle's motion and state. Lava Tubes explorat…
2D SLAM is useful for mobile robots that are constrained to a 2D plane, for example in a warehouse, simplifying calculations in respect to the 3D case. The use of an IMU in such a context can enrich the estimation and make it more robust. In this paper we reformulate the IMU preintegration widely us…
This letter introduces <sc xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Wolf</small> , a C++ estimation framework based on factor graphs and targeted at mobile robotics. <sc xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/199
Localization is the key perceptual process closing the loop of autonomous navigation, allowing self-driving vehicles to operate in a deliberate way. To ensure robust localization, autonomous vehicles have to implement redundant estimation processes, ideally independent in terms of the underlying phy
We propose a novel method for robotic exploration that evaluates paths that minimize both the joint path and map entropy per meter traveled. The method uses Pose SLAM to update the path estimate, and grows an RRT* tree to generate the set of candidate paths. This action selection mechanism contrasts…