501 citations · 838 across the 22 of their papers we have counts for
14 papers · 1 filter
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…
SuMa++: Efficient LiDAR-based Semantic SLAM
Xieyuanli Chen, Andres Milioto, Emanuele Palazzolo +3
Reliable and accurate localization and mapping are key components of most autonomous systems. Besides geometric information about the mapped environment, the semantics plays an imp…
Lidar Scan Registration Robust to Extreme Motions
Simon-Pierre Deschênes, Dominic Baril, Vladimír Kubelka +2
Registration algorithms, such as Iterative Closest Point (ICP), have proven effective in mobile robot localization algorithms over the last decades. However, they are susceptible t…
Accurate outdoor ground truth based on total stations
Maxime Vaidis, Philippe Giguère, François Pomerleau +1
In robotics, accurate ground-truth position fostered the development of mapping and localization algorithms through the creation of cornerstone datasets. In outdoor environments an…
Evaluation of Skid-Steering Kinematic Models for Subarctic Environments
Dominic Baril, Vincent Grondin, Simon-Pierre Deschênes +6
In subarctic and arctic areas, large and heavy skid-steered robots are preferred for their robustness and ability to operate on difficult terrain. State estimation, motion control…
Driving Datasets Literature Review
Charles-Éric Noël Laflamme, François Pomerleau, Philippe Giguère
This report is a survey of the different autonomous driving datasets which have been published up to date. The first section introduces the many sensor types used in autonomous dri…
ReFusion: 3D Reconstruction in Dynamic Environments for RGB-D Cameras Exploiting Residuals
Emanuele Palazzolo, Jens Behley, Philipp Lottes +2
Mapping and localization are essential capabilities of robotic systems. Although the majority of mapping systems focus on static environments, the deployment in real-world situatio…
Predicting GNSS satellite visibility from dense point clouds
Philippe Dandurand, Philippe Babin, Vladimır Kubelka +2
To help future mobile agents plan their movement in harsh environments,a predictive model has been designed to determine what areas would be favorable for Global Navigation Satelli…
Large-scale 3D Mapping of Subarctic Forests
Philippe Babin, Philippe Dandurand, Vladimír Kubelka +2
The ability to map challenging subarctic environments opens new horizons for robotic deployments in industries such as forestry, surveillance, and open-pit mining. In this paper, w…
Automatic 3D Mapping for Tree Diameter Measurements in Inventory Operations
Jean-François Tremblay, Martin Béland, François Pomerleau +2
Forestry is a major industry in many parts of the world. It relies on forest inventory, which consists of measuring tree attributes. We propose to use 3D mapping, based on the iter…
GQ-STN: Optimizing One-Shot Grasp Detection based on Robustness Classifier
Alexandre Gariépy, Jean-Christophe Ruel, Brahim Chaib-draa +1
Grasping is a fundamental robotic task needed for the deployment of household robots or furthering warehouse automation. However, few approaches are able to perform grasp detection…
Analysis of Robust Functions for Registration Algorithms
Philippe Babin, Philippe Giguère, François Pomerleau
Registration accuracy is influenced by the presence of outliers and numerous robust solutions have been developed over the years to mitigate their effect. However, without a large…
CELLO-3D: Estimating the Covariance of ICP in the Real World
David Landry, François Pomerleau, Philippe Giguère
The fusion of Iterative Closest Point (ICP) reg- istrations in existing state estimation frameworks relies on an accurate estimation of their uncertainty. In this paper, we study t…
Dictionary Learning for Robotic Grasp Recognition and Detection
Ludovic Trottier, Philippe Giguère, Brahim Chaib-draa
The ability to grasp ordinary and potentially never-seen objects is an important feature in both domestic and industrial robotics. For a system to accomplish this, it must autonomo…