7 accepted papers
This letter presents a novel method to estimate the relative poses between RGB and depth cameras without the requirement of an overlapping field of view, thus providing flexibility to calibrate a variety of sensor configurations. This calibration problem is relevant to robotic applications that can
Image and point cloud registration methods compute the relative pose between two images. Commonly used registration algorithms are iterative and rely on the assumption that the motion between the images is small. In this work, we propose a fast pose estimation technique to compute a rough estimate o…
This paper deals with the problem of active sensing control for nonlinear differentially flat systems. The objective is to improve the estimation accuracy of an observer by determining the inputs of the system that maximise the amount of information gathered by the outputs over a time horizon. In pa…
This paper proposes an environmental representation approach based on hybrid metric and topological maps as a key component for mobile robot navigation. Focus is made on an ego-centric pose graph structure by the use of Keyframes to capture the local properties of the scene. With the aim of reducing…
This paper presents a methodology to combine information from a sequence of RGB-D spherical views acquired by a home-made multi-stereo device in order to improve the computed depth images both in terms of accuracy and completeness. This methodology is embedded in a larger visual mapping framework ai…
Mapping evolving environments requires an update mechanism to efficiently deal with dynamic objects. In this context, we propose a new approach to update maps pertaining to large-scale dynamic environments with semantics. While previous works mainly rely on large amount of observations, the proposed…
Mimicking human navigation is a challenging goal for autonomous robots. This requires to explicitly take into account not only geometric representation but also high-level interpretation of the environment. In this paper, we demonstrate the capability to infer a route in a global map by using semant…