10 accepted papers
Today, rail vehicle localization is based on infrastructure-side Balises (beacons) together with on-board odometry to determine whether a rail segment is occupied. Such a coarse locking leads to a sub-optimal usage of the rail networks. New railway standards propose the use of moving blocks centred
Robust and accurate visual-inertial estimation is crucial to many of today's challenges in robotics. Being able to localize against a prior map and obtain accurate and drift-free pose estimates can push the applicability of such systems even further. Most of the currently available solutions, howeve
Visual robot navigation within large-scale, semistructured environments deals with various challenges such as computation intensive path planning algorithms or insufficient knowledge about traversable spaces. Moreover, many state-of-the-art navigation approaches only operate locally instead of gaini…
Many industrial facilities require periodic visual inspections. Often the points of interest are out of reach or in potentially hazardous environment. Multi-copters are ideal platforms to automate this expensive and tedious task. This video presents a system that enables a human operator to teach a…
Conventional camera calibration techniques rely on discrete reference points extracted from a set of input images. While these approaches have been applied successfully for a long time, omitting all image information apart from reference point positions at the initial stage of the calibration pipeli…
Environmental conditions and external effects, such as shocks, have a significant impact on the calibration parameters of visual-inertial sensor systems. Thus long-term operation of these systems cannot fully rely on factory calibration. Since the observability of certain parameters is highly depend…
Flying and walking robots can use their complementary features in terms of viewpoint and payload capability to the best in a heterogeneous team. To this end, we present our online collaborative navigation framework for unknown and challenging terrain. The method leverages the flying robot's onboard…
Precisely estimating the pose of an agent in a global reference frame is a crucial goal that unlocks a multitude of robotic applications, including autonomous navigation and collaboration. In order to achieve this, current state-of-the-art localization approaches collect data provided by one or more…
An increasing number of robotic systems feature multiple inertial measurement units (IMUs). Due to competing objectives-either desired vicinity to the center of gravity when used in controls, or an unobstructed field of view when integrated in a sensor setup with an exteroceptive sensor for ego-moti
Accurate and robust real-time map generation onboard of a fixed-wing UAV is essential for obstacle avoidance, path planning, and critical maneuvers such as autonomous take-off and landing. Due to the computational constraints, the required robustness and reliability, it remains a challenge to deploy…