8 accepted papers
Successful path planning for Unmanned Aerial Vehicles (UAVs) in challenging environments with narrow openings, such as disaster areas, requires attitude to be considered. State-of-the-art methods incorporate attitude only in the refinement stage. We introduce a first-of-a-kind global minimum cost pa
The availability of real-time semantics greatly improves the core geometric functionality of SLAM systems, enabling numerous robotic and AR/VR applications. We present a new methodology for real-time semantic mapping from RGB-D sequences that combines a 2D neural network and a 3D network based on a
Active stereo systems are used in many robotic applications that require 3D information. These depth sensors, however, suffer from stereo artefacts and do not provide dense depth estimates. In this work, we present the first self-supervised depth completion method for active stereo systems that pred
With the aim of bridging the gap between high quality reconstruction and robot motion planning, we propose an efficient system that leverages the concept of adaptive-resolution volumetric mapping, which naturally integrates with the hierarchical decomposition of space in an octree data structure. In
The extreme variability in the appearance of a place across the four seasons of the year is one of the most challenging problems in life-long visual topological localization for mobile robotic systems and intelligent vehicles. Traditional solutions to this problem are based on the description of ima…
In this paper we provide novel insights about the performance and design of popular pairwise tests-based local binary descriptors with the aim of answering the question: How many bits are needed for matching local binary descriptors? We use the interpretation of binary descriptors as a Locality Sens
We propose a system for performing structural change detection in street-view videos captured by a vehicle- mounted monocular camera over time. Our approach is moti- vated by the need for more frequent and efficient updates in the large-scale maps used in autonomous vehicle navigation. Our method ch…
Life-long visual localization is one of the most challenging topics in robotics over the last few years. The difficulty of this task is in the strong appearance changes that a place suffers due to dynamic elements, illumination, weather or seasons. In this paper, we propose a novel method (ABLE-M) t…