5 papers
Autonomous Ground Navigation in Highly Constrained Spaces: Lessons learned from The 2nd BARN Challenge at ICRA 2023
Xuesu Xiao, Zifan Xu, Garrett Warnell +8
The 2nd BARN (Benchmark Autonomous Robot Navigation) Challenge took place at the 2023 IEEE International Conference on Robotics and Automation (ICRA 2023) in London, UK and continu…
Active Depth Estimation: Stability Analysis and its Applications
Romulo T. Rodrigues, Pedro Miraldo, Dimos V. Dimarogonas +1
Recovering the 3D structure of the surrounding environment is an essential task in any vision-controlled Structure-from-Motion (SfM) scheme. This paper focuses on the theoretical p…
A Framework for Depth Estimation and Relative Localization of Ground Robots using Computer Vision
Romulo T. Rodrigues, Pedro Miraldo, Dimos V. Dimarogonas +1
The 3D depth estimation and relative pose estimation problem within a decentralized architecture is a challenging problem that arises in missions that require coordination among mu…
Low-level Active Visual Navigation: Increasing robustness of vision-based localization using potential fields
Romulo T. Rodrigues, Meysam Basiri, A. Pedro Aguiar +1
This paper proposes a low-level visual navigation algorithm to improve visual localization of a mobile robot. The algorithm, based on artificial potential fields, associates each f…
Feature Based Potential Field for Low-level Active Visual Navigation
Rômulo T. Rodrigues, Meysam Basiri, A. Pedro Aguiar +1
This paper proposes a novel solution for improving visual localization in an active fashion. The solution, based on artificial potential field, associates each feature in the curre…