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ASAP-MO:Advanced Situational Awareness and Perception for Mission-critical Operations
Veronica Vannini, William Dubois, Olivier Gamache +5
Deploying robotic missions can be challenging due to the complexity of controlling robots with multiple degrees of freedom, fusing diverse sensory inputs, and managing communicatio…
DRIVE Through the Unpredictability:From a Protocol Investigating Slip to a Metric Estimating Command Uncertainty
Nicolas Samson, William Larrivée-Hardy, William Dubois +5
Off-road autonomous navigation is a challenging task as it is mainly dependent on the accuracy of the motion model. Motion model performances are limited by their ability to predic…
3D Mapping of Glacier Moulins: Challenges and lessons learned
William Dubois, Matěj Boxan, Johann Laconte +1
In this paper, we present a field report of the mapping of the Athabasca Glacier, using a custom-made lidar-inertial mapping platform. With the increasing autonomy of robotics, a w…
RTS-GT: Robotic Total Stations Ground Truthing dataset
Maxime Vaidis, Mohsen Hassanzadeh Shahraji, Effie Daum +3
Numerous datasets and benchmarks exist to assess and compare Simultaneous Localization and Mapping (SLAM) algorithms. Nevertheless, their precision must follow the rate at which SL…
Uncertainty analysis for accurate ground truth trajectories with robotic total stations
Maxime Vaidis, William Dubois, Effie Daum +2
In the context of robotics, accurate ground truth positioning is essential for the development of Simultaneous Localization and Mapping (SLAM) and control algorithms. Robotic Total…
Extrinsic calibration for highly accurate trajectories reconstruction
Maxime Vaidis, William Dubois, Alexandre Guénette +3
In the context of robotics, accurate ground-truth positioning is the cornerstone for the development of mapping and localization algorithms. In outdoor environments and over long d…