4 accepted papers
Relative pose estimation is crucial for coordinated multi-robot navigation. However, robots in close proximity often face intra-team occlusions, where teammates partially block each other's field of view, while dynamic environments further introduce environmental occlusions. Classical relative pose …
We propose the San Francisco world (SFW) model, a novel structural model inspired by San Francisco's hilly terrain, enabling 3D inter-floor navigation in urban areas rather than being limited to 2D intra-floor navigation of various robotics platforms. Our SFW consists of a single vertical dominant d
We present the first annotated benchmark datasets for evaluating free-flyer visual-inertial localization and mapping algorithms in a zero-g spacecraft interior. The Astrobee free-flying robots that operate inside the International Space Station (ISS) collected the datasets. Space intra-vehicular fre
We present a new SLAM algorithm that utilizes an inexpensive four-point LiDAR to supplement the limitations of the short-range and viewing angles of RGB-D cameras. Herein, the four-point LiDAR can detect distances up to 40 m, and it senses only four distance measurements per scan. In open spaces, RG