31 accepted papers
Future ground logistics missions will require multiple robots to travel in a convoy between locations. As each location may require a different number of robots (e.g. resupply vehicles), these missions will require a mutable convoy formation structure that may be divided to meet operational needs at
Inertial odometry (IO) using only Inertial Measurement Units (IMUs) offers a lightweight and cost-effective solution for Unmanned Aerial Vehicle (UAV) applications, yet existing learning-based IO models often fail to generalize to UAVs due to the highly dynamic and non-linear-flight patterns that di
We present the BETTY dataset, a large-scale, multi-modal dataset collected on several autonomous racing vehicles, targeting supervised and self-supervised state estimation, dynamics modeling, motion forecasting, perception, and more. Existing large-scale datasets, especially autonomous vehicle datas
Robust depth perception in visually-degraded environments is crucial for autonomous aerial systems. Thermal imaging cameras, which capture infrared radiation, are robust to visual degradation. However, due to lack of a large-scale dataset, the use of thermal cameras for uncrewed aerial system (UAS)
Achieving persistent tracking of multiple dynamic targets over a large spatial area poses significant challenges for a single-robot system with constrained sensing capabilities. As the robot moves to track different targets, the ones outside the field of view accumulate uncertainty, making them prog
An open problem in mobile manipulation is how to represent objects and scenes in a unified manner so that robots can use both for navigation and manipulation. The latter requires capturing intricate geometry while understanding fine-grained semantics, whereas the former involves capturing the comple
We propose MAC-VO, a novel learning-based stereo visual odometry (VO) framework that trains a metrics-aware uncertainty model to serve two critical functions: selecting keypoints and weighting residuals in pose graph optimization. Unlike traditional geometric methods that favor texture-rich features
Exploration is a critical challenge in robotics, centered on understanding unknown environments. In this work, we focus on structured indoor environments, which often exhibit predictable, repeating patterns. Conventional frontier-based exploration approaches have difficulty leveraging this predictab
Autonomous exploration in unknown environments requires estimating the information gain of an action to guide planning decisions. While prior approaches often compute information gain at discrete waypoints, pathwise integration offers a more comprehensive estimation but is often computationally chal
Open-set semantic mapping is crucial for openworld robots. Current mapping approaches either are limited by the depth range or only map beyond-range entities in constrained settings, where overall they fail to combine within-range and beyond-range observations. Furthermore, these methods make a trad
Autonomous robot navigation in off-road environments presents a number of challenges due to its lack of structure, making it difficult to handcraft robust heuristics for diverse scenarios. While learned methods using hand labels or self-supervised data improve generalizability, they often require a
Map-based LiDAR localization, while widely used in autonomous systems, faces significant challenges in degraded environments due to the lack of distinct geometric features. This paper introduces SuperLoc, a robust LiDAR localization package that addresses key limitations in existing methods. SuperLo
We present TartanGround, a large-scale, multi-modal dataset to advance the perception and autonomy of ground robots operating in diverse environments. This dataset, collected in various photorealistic simulation environments includes multiple RGB stereo cameras for 360-degree coverage, along with de
Visual Place Recognition (VPR) is vital for robot localization. To date, the most performant VPR approaches are <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">environment- and task-specific:</i> while they exhibit strong performance in structured en
Aerial manipulation has gained interest in completing high-altitude tasks that are challenging for human workers, such as contact inspection and defect detection, etc. Previous research has focused on maintaining static contact points or forces. This letter addresses a more general and dynamic task:
Camera localization in LiDAR maps has become increasingly popular due to its promising ability to handle complex scenarios, surpassing the limitations of visual-only localization methods. However, existing approaches mostly focus on addressing the cross-modal 2D–3D gaps while overlooking the relatio
This work proposes an autonomous multi-robot exploration pipeline that coordinates the behaviors of robots in an indoor environment composed of multiple rooms. Contrary to simple frontier-based exploration approaches, we aim to enable robots to methodically explore and observe an unknown set of room
The fast-growing demand for fully autonomous robots in shared spaces calls for developing trustworthy agents that can safely and seamlessly navigate crowded environments. Recent models for motion prediction show promise in characterizing social interactions in such environments. However, using them
Time-optimal path planning in high winds for a turning-rate constrained Uncrewed Aerial Vehicle is a challenging problem to solve and is important for deployment and field operations. Previous works have used trochoidal path segments comprising straight and maximum-rate turn segments, as optimal ext
Multi-agent exploration of a bounded 3D environment with the unknown initial poses of agents is a challenging problem. It requires both quickly exploring the environments and robustly merging the sub-maps built by the agents. Most existing exploration strategies directly merge two sub-maps built by
Autonomous exploration has many important applications. However, classic information gain-based or frontier-based exploration only relies on the robot current state to determine the immediate exploration goal, which lacks the capability of predicting the value of future states and thus leads to inef
LiDAR-based localization approach is a fundamental module for large-scale navigation tasks, such as last-mile delivery and autonomous driving, and localization robustness highly relies on viewpoints and 3D feature extraction. Our previous work provides a viewpoint-invariant descriptor to deal with v
Recent years have witnessed the increasing application of place recognition in various environments, such as city roads, large buildings, and a mix of indoor and outdoor places. This task, however, still remains challenging due to the limitations of different sensors and the changing appearance of e
Object encoding and identification are crucial for many robotic tasks such as autonomous exploration and semantic relocalization. Existing works heavily rely on the tracking of detected objects but have difficulty recalling revisited objects precisely. In this letter, we propose a novel object encod
Lidar-based SLAM systems perform well in a wide range of circumstances by relying on the geometry of the environment. However, even mature and reliable approaches struggle when the environment contains structureless areas such as long hallways. To allow the use of lidar-based SLAM in such environmen…
One of the main obstacles to 3D semantic segmentation is the significant amount of endeavor required to generate expensive point-wise annotations for fully supervised training. To alleviate manual efforts, we propose GIDSeg, a novel approach that can simultaneously learn segmentation from sparse ann
We propose a new algorithm for real-time detection and tracking of elliptic patterns suitable for real-world robotics applications. The method fits ellipses to each contour in the image frame and rejects ellipses that do not yield a good fit. The resulting detection and tracking method is lightweigh
Fusing data from LiDAR and camera is conceptually attractive because of their complementary properties. For instance, camera images are of higher resolution and have colors, while LiDAR data provide more accurate range measurements and have a wider field of view. However, the sensor fusion problem r
In this letter, we present a monocular simultaneous localization and mapping (SLAM) algorithm using high-level object and plane landmarks. The built map is denser, more compact and semantic meaningful compared to feature point based SLAM. We first propose a high-order graphical model to jointly infe
We consider the problem of understanding the 3D layout of indoor corridor scenes from a single image in real time. Identifying obstacles such as walls is essential for robot navigation, but also challenging due to the diversity in structure, appearance and illumination of real-world corridor scenes.
Sampling-based optimal planners, such as RRT*, almost-surely converge asymptotically to the optimal solution, but have provably slow convergence rates in high dimensions. This is because their commitment to finding the global optimum compels them to prioritize exploration of the entire problem domai