27 citations · 41 across the 15 of their papers we have counts for
18 papers
Inertial Steering and Motion Prediction of Tracked Vehicles on Low-Adherence Surfaces
Mathis Turgeon-Roy, Mohamed Ounally, Veronica Vannini +2
Tracked vehicles are widely used in off-road applications, but their conventional motion models often rely on no-slip assumptions that become inaccurate on low-adherence surfaces.…
TACOS: Terrain-Aware COntact Supervision for Visual Footstep Planning
Jean-Michel Fortin, William Larrivée-Hardy, Gabriel Jeanson +4
Humans navigate their environment based on their vision system, anticipating how the ground will respond before committing to a step. Self-supervised learning could provide legged…
Steering Through Contact: A Finite-Support Motion Model for Single-Track Center-Articulated Robots
Mohamed Dhia Ounally, Nicolas Samson, Mathis Turgeon-Roy +3
Trajectory planning and control in field robotics rely on predicting how propulsion and steering affect vehicle motion when contact points undergo slip. For articulated vehicles, t…
Comparing Trajectories from Positions Alone: Curvature-Based Time Alignment and Drift Error Metric
Effie Daum, Daniele De Martini, Claire Dune +1
In field robotics, acquiring independent large-scale reference trajectories more accurate than the evaluated estimates remains an open challenge. The domain is widely reliant on Ab…
One year in a forest: Analyzing the challenges of autonomous navigation in subarctic environments
Matěj Boxan, Nicolas Lauzon, Veronica Vannini +2
Subarctic regions have the potential to see increased deployment of autonomous robots in applications including forestry, mining, and environmental monitoring. In these conditions,…
Stretch-ICP: A Continuous-Trajectory Registration and Deskewing Algorithm in Scenarios of Aggressive Motions
Simon-Pierre Deschênes, Veronica Vannini, Philippe Giguère +1
Robust robotic autonomy remains challenging in complex environments, where loss of stability on uneven or slippery terrain can induce extreme accelerations and angular velocities.…
Leveraging Image Generators to Address Data Scarcity: The Gen4Regen Dataset for Forest Regeneration Mapping
Gabriel Jeanson, David-Alexandre Duclos, William Larrivée-Hardy +5
Sustainable forest management relies on precise species composition mapping, yet traditional ground surveys are labour-intensive and geographically constrained. While Uncrewed Aeri…
Reproducible Evaluation of Camera Auto-Exposure Methods in the Field: Platform, Benchmark and Lessons Learned
Olivier Gamache, Jean-Michel Fortin, Matěj Boxan +2
Standard datasets often present limitations, particularly due to the fixed nature of input data sensors, which makes it difficult to compare methods that actively adjust sensor par…
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…
UAV-Assisted Self-Supervised Terrain Awareness for Off-Road Navigation
Jean-Michel Fortin, Olivier Gamache, William Fecteau +4
Terrain awareness is an essential milestone to enable truly autonomous off-road navigation. Accurately predicting terrain characteristics allows optimizing a vehicle's path against…
Saturation-Aware Angular Velocity Estimation: Extending the Robustness of SLAM to Aggressive Motions
Simon-Pierre Deschênes, Dominic Baril, Matěj Boxan +3
We propose a novel angular velocity estimation method to increase the robustness of Simultaneous Localization And Mapping (SLAM) algorithms against gyroscope saturations induced by…
Exposing the Unseen: Exposure Time Emulation for Offline Benchmarking of Vision Algorithms
Olivier Gamache, Jean-Michel Fortin, Matěj Boxan +3
Visual Odometry (VO) is one of the fundamental tasks in computer vision for robotics. However, its performance is deeply affected by High Dynamic Range (HDR) scenes, omnipresent ou…
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…
DRIVE: Data-driven Robot Input Vector Exploration
Dominic Baril, Simon-Pierre Deschênes, Luc Coupal +4
An accurate motion model is a fundamental component of most autonomous navigation systems. While much work has been done on improving model formulation, no standard protocol exists…
Benchmarking ground truth trajectories with robotic total stations
Effie Daum, Maxime Vaidis, François Pomerleau
Benchmarks stand as vital cornerstones in elevating SLAM algorithms within mobile robotics. Consequently, ensuring accurate and reproducible ground truth generation is vital for fa…
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…
MaskBEV: Joint Object Detection and Footprint Completion for Bird's-eye View 3D Point Clouds
William Guimont-Martin, Jean-Michel Fortin, François Pomerleau +1
Recent works in object detection in LiDAR point clouds mostly focus on predicting bounding boxes around objects. This prediction is commonly achieved using anchor-based or anchor-f…
Kilometer-scale autonomous navigation in subarctic forests: challenges and lessons learned
Dominic Baril, Simon-Pierre Deschênes, Olivier Gamache +6
Challenges inherent to autonomous wintertime navigation in forests include lack of reliable a Global Navigation Satellite System (GNSS) signal, low feature contrast, high illuminat…