858 citations
- The University of AdelaideAU53 papers
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33 papers · 1 filter
Predictive and adaptive maps for long-term visual navigation in changing environments
Lucie Halodova, Eliska Dvorakova, Filip Majer +4
In this paper, we compare different map management techniques for long-term visual navigation in changing environments. In this scenario, the navigation system needs to continuousl…
TANGO: Traversability-Aware Navigation with Local Metric Control for Topological Goals
Stefan Podgorski, Sourav Garg, Mehdi Hosseinzadeh +3
Visual navigation in robotics traditionally relies on globally-consistent 3D maps or learned controllers, which can be computationally expensive and difficult to generalize across…
Bias-Eliminated PnP for Stereo Visual Odometry: Provably Consistent and Large-Scale Localization
Guangyang Zeng, Yuan Shen, Ziyang Hong +4
In this paper, we first present a bias-eliminated weighted (Bias-Eli-W) perspective-n-point (PnP) estimator for stereo visual odometry (VO) with provable consistency. Specifically,…
Robots in the Wild: Contextually-Adaptive Human-Robot Interactions in Urban Public Environments
Xinyan Yu, Yiyuan Wang, Tram Thi Minh Tran +9
The increasing transition of human-robot interaction (HRI) context from controlled settings to dynamic, real-world public environments calls for enhanced adaptability in robotic sy…
Equivariant Filter Design for Inertial Navigation Systems with Input Measurement Biases
Alessandro Fornasier, Yonhon Ng, Robert Mahony +1
Inertial Navigation Systems (INS) are a key technology for autonomous vehicles applications. Recent advances in estimation and filter design for the INS problem have exploited geom…
A Holistic Approach to Reactive Mobile Manipulation
Jesse Haviland, Niko Sünderhauf, Peter Corke
We present the design and implementation of a taskable reactive mobile manipulation system. In contrary to related work, we treat the arm and base degrees of freedom as a holistic…