7 accepted papers
Learning-based motion planning can quickly generate near-optimal trajectories. However, it often requires either large training datasets or costly collection of human demonstrations. This work proposes an alternative approach that quickly generates smooth, near-optimal collision-free 3D Cartesian tr
We introduce a simple yet effective approach for dense depth reconstruction that operates directly on raw disparity data, eliminating the need for additional disparity refinement stages. By leveraging disparity maps generated from conventional stereo methods, we train a U-Net-based model to directly
This work integrates visual and physical constraints to perform real-time depth-only tracking of articulated objects, with a focus on tracking a robot's manipulators and manipulation targets in realistic scenarios. As such, we extend DART, an existing visual articulated object tracker, to additional…
Teams of mobile robots can be deployed in search and rescue missions to explore previously unknown environments. Methods for joint localization and mapping constitute the basis for (semi-)autonomous cooperative action, in particular when navigating in GPS-denied areas. As communication losses may oc…
Autonomous robots operating in semi- or unstructured environments, e.g. during search and rescue missions, require methods for online on-board creation of maps to support path planning and obstacle avoidance. Perception based on stereo cameras is well suited for mixed indoor/outdoor environments. Th…
The travel range of a mobile robot is directly linked to its energy consumption. Apart from the actuators, the computing resources are the main energy consumers. Thus, robots that can navigate with minimal computational resources would be able to travel longer distances and, hence, would be valuable…
Stopping the motion of industrial robots in response to warnings or unexpected sensor data is a special case of trajectory generation. In contrast to emergency stops, here the robot has to satisfy the limits of the acceleration and the jerk. In addition, during the deceleration the robot must follow…