5 accepted papers
During the execution of Multi-Agent Path Finding (MAPF) plans in real-life applications, the MAPF assumption that the fleet's movement is perfectly synchronized does not apply. Since some of the agents may become delayed due to internal or external factors, it is often necessary to use a robust exec…
Visibility is a fundamental concept in computational geometry, with numerous applications in surveillance, robotics, and games. This software paper presents TřiVis, a C++ library developed by the authors for computing numerous visibility-related queries in highly complex polygonal environments. Adap…
Visual classification under uncertainty is a complex computer vision problem. We present a thorough comparison of several variants of convolutional neural network (CNN) classification techniques in the context of ambiguous image data interpretation. We explore possible improvements in classification…
We propose a novel teach-and-repeat navigation system, SSM-Nav, which is based on the output of the recently introduced SSM visual place recognition methodology. During the teach phase, a teleoperated wheeled robot stores in a database features of images taken along an arbitrary route. During the re…
We revise, improve and extend the system previously introduced by us and named SSM-VPR (Semantic and Spatial Matching Visual Place Recognition), largely boosting its performance above the current state of the art. The system encodes images of places by employing the activations of different layers o…