12 citations · 20 across the 36 of their papers we have counts for
7 papers · 1 filter
RMS: Redundancy-Minimizing Point Cloud Sampling for Real-Time Pose Estimation
Pavel Petracek, Kostas Alexis, Martin Saska
The typical point cloud sampling methods used in state estimation for mobile robots preserve a high level of point redundancy. This redundancy unnecessarily slows down the estimati…
Terrain Recognition and Contact Force Estimation through a Sensorized Paw for Legged Robots
Aleksander Vangen, Tejal Barnwal, Jørgen Anker Olsen +1
This paper introduces the Terrain Recognition And Contact Force Estimation Paw, a compact and sensorized shoe designed for legged robots. The paw end-effector is made of silicon th…
Design and Experimental Verification of a Jumping Legged Robot for Martian Lava Tube Exploration
Jørgen Anker Olsen, Kostas Alexis
The potential of Martian lava tubes for resource extraction and habitat sheltering highlights the need for robots capable to undertake the grueling task of their exploration. Drive…
Autonomous Exploration and General Visual Inspection of Ship Ballast Water Tanks using Aerial Robots
Mihir Dharmadhikari, Paolo De Petris, Mihir Kulkarni +7
This paper presents a solution for the autonomous exploration and inspection of Ballast Water Tanks (BWTs) of marine vessels using aerial robots. Ballast tank compartments are crit…
An Online Self-calibrating Refractive Camera Model with Application to Underwater Odometry
Mohit Singh, Mihir Dharmadhikari, Kostas Alexis
This work presents a camera model for refractive media such as water and its application in underwater visual-inertial odometry. The model is self-calibrating in real-time and is f…
Martian Lava Tube Exploration Using Jumping Legged Robots: A Concept Study
Jørgen Anker Olsen, Kostas Alexis
In recent years, robotic exploration has become increasingly important in planetary exploration. One area of particular interest for exploration is Martian lava tubes, which have s…
Task-driven Compression for Collision Encoding based on Depth Images
Mihir Kulkarni, Kostas Alexis
This paper contributes a novel learning-based method for aggressive task-driven compression of depth images and their encoding as images tailored to collision prediction for roboti…