25 hasil
Menampilkan 1–20 · 0,43 detik · RSS
IEEE Robotics and Automation Letters
Scopus
ISSN 2377-3766 · Institute of Electrical and Electronics Engineers · 25 artikel di indeks
-
Artikel Jurnal
DriveGPT4: Interpretable End-to-End Autonomous Driving Via Large Language Model
Multimodallarge language models (MLLMs) have emerged as a prominent area of interest within the research community, given their proficiency in handling and reasoning with non-textual data, including images and videos. This study seeks to extend the application of MLLMs to the realm of autonomous…
-
Artikel Jurnal Teks lengkap
KISS-ICP: In Defense of Point-to-Point ICP – Simple, Accurate, and Robust Registration If Done the Right Way
Robust and accurate pose estimation of a robotic platform, so-called sensor-based odometry, is an essential part of many robotic applications. While many sensor odometry systems made progress by adding more complexity to the ego-motion estimation process, we move in the opposite direction. By…
-
Artikel Jurnal Teks lengkap
Orbit: A Unified Simulation Framework for Interactive Robot Learning Environments
We presentOrbit, a unified and modular framework for robot learning powered byNvidiaIsaac Sim. It offers a modular design to easily and efficiently create robotic environments with photo-realistic scenes and high-fidelity rigid and deformable body simulation. WithOrbit, we provide a suite of…
-
Artikel Jurnal
Faster-LIO: Lightweight Tightly Coupled Lidar-Inertial Odometry Using Parallel Sparse Incremental Voxels
This letter presents an incremental voxel-based lidar-inertial odometry (LIO) method for fast-tracking spinning and solid-state lidar scans. To achieve the high tracking speed, we neither use complicated tree-based structures to divide the spatial point cloud nor the strict k nearest neighbor…
-
Artikel Jurnal
Multi-Class Road User Detection With 3+1D Radar in the View-of-Delft Dataset
Next-generation automotive radars provide elevation data in addition to range-, azimuth- and Doppler velocity. In this experimental study, we apply a state-of-the-art object detector (PointPillars), previously used for LiDAR 3D data, to such 3+1D radar data (where 1D refers to Doppler). In ablation…
-
Artikel Jurnal Teks lengkap
DynaSLAM II: Tightly-Coupled Multi-Object Tracking and SLAM
The assumption of scene rigidity is common in visual SLAM algorithms. However, it limits their applicability in populated real-world environments. Furthermore, most scenarios including autonomous driving, multi-robot collaboration and augmented/virtual reality, require explicit motion information…
-
Artikel Jurnal Teks lengkap
BADGR: An Autonomous Self-Supervised Learning-Based Navigation System
Mobile robot navigation is typically regarded as a geometric problem, in which the robot's objective is to perceive the geometry of the environment in order to plan collision-free paths towards a desired goal. However, a purely geometric view of the world can be insufficient for many navigation…
-
Artikel Jurnal Teks lengkap
Towards High-Performance Solid-State-LiDAR-Inertial Odometry and Mapping
We present a novel tightly-coupled LiDAR-inertial odometry and mapping scheme for both solid-state and mechanical LiDARs. As frontend, a feature-based lightweight LiDAR odometry provides fast motion estimates for adaptive keyframe selection. As backend, a hierarchical keyframe-based sliding window…
-
Artikel Jurnal Teks lengkap
ERASOR: Egocentric Ratio of Pseudo Occupancy-Based Dynamic Object Removal for Static 3D Point Cloud Map Building
Scan data of urban environments often include representations of dynamic objects, such as vehicles, pedestrians, and so forth. However, when it comes to constructing a 3D point cloud map with sequential accumulations of the scan data, the dynamic objects often leave unwanted traces in the map…
-
Artikel Jurnal Teks lengkap
Moving Object Segmentation in 3D LiDAR Data: A Learning-Based Approach Exploiting Sequential Data
The ability to detect and segment moving objects in a scene is essential for building consistent maps, making future state predictions, avoiding collisions, and planning. In this letter, we address the problem of moving object segmentation from 3D LiDAR scans. We propose a novel approach that…
-
Artikel Jurnal Teks lengkap
A Unified MPC Framework for Whole-Body Dynamic Locomotion and Manipulation
In this letter, we propose a whole-body planning framework that unifies dynamic locomotion and manipulation tasks by formulating a single multi-contact optimal control problem. We model the hybrid nature of a generic multi-limbed mobile manipulator as a switched system, and introduce a set of…
-
Artikel Jurnal Teks lengkap
An Efficient Sampling-Based Method for Online Informative Path Planning in Unknown Environments
The ability to plan informative paths online is essential to robot autonomy. In particular, sampling-based approaches are often used as they are capable of using arbitrary information gain formulations. However, they are prone to local minima, resulting in sub-optimal trajectories, and sometimes do…
-
Artikel Jurnal Teks lengkap
A General Framework for Uncertainty Estimation in Deep Learning
Neural networks predictions are unreliable when the input sample is out of the training distribution or corrupted by noise. Being able to detect such failures automatically is fundamental to integrate deep learning algorithms into robotics. Current approaches for uncertainty estimation of neural…
-
Artikel Jurnal Teks lengkap
Cross-View Semantic Segmentation for Sensing Surroundings
Sensing surroundings plays a crucial role in human spatial perception, as it extracts the spatial configuration of objects as well as the free space from the observations. To facilitate the robot perception with such a surrounding sensing capability, we introduce a novel visual task called…
-
Artikel Jurnal Teks lengkap
Nonlinear MPC for Collision Avoidance and Control of UAVs With Dynamic Obstacles
This letter proposes a Novel Nonlinear Model Predictive Control (NMPC) for navigation and obstacle avoidance of an Unmanned Aerial Vehicle (UAV). The proposed NMPC formulation allows for a fully parametric obstacle trajectory, while in this letter we apply a classification scheme to differentiate…
-
Artikel Jurnal
What the Constant Velocity Model Can Teach Us About Pedestrian Motion Prediction
Pedestrian motion prediction is a fundamental task for autonomous robots and vehicles to operate safely. In recent years many complex approaches based on neural networks have been proposed to address this problem. In this work we show that - surprisingly - a simple Constant Velocity Model can…
-
Artikel Jurnal Teks lengkap
Graduated Non-Convexity for Robust Spatial Perception: From Non-Minimal Solvers to Global Outlier Rejection
Semidefinite Programming (SDP) and Sums-of-Squares (SOS) relaxations have led to certifiably optimal non-minimal solvers for several robotics and computer vision problems. However, most non-minimal solvers rely on least squares formulations, and, as a result, are brittle against outliers. While a…
-
Artikel Jurnal Teks lengkap
Fast Underwater Image Enhancement for Improved Visual Perception
In this letter, we present a conditional generative adversarial network-based model for real-time underwater image enhancement. To supervise the adversarial training, we formulate an objective function that evaluates the perceptual image quality based on its global content, color, local texture…
-
Artikel Jurnal Teks lengkap
DIGIT: A Novel Design for a Low-Cost Compact High-Resolution Tactile Sensor With Application to In-Hand Manipulation
Despite decades of research, general purpose in-hand manipulation remains one of the unsolved challenges of robotics. One of the contributing factors that limit current robotic manipulation systems is the difficulty of precisely sensing contact forces - sensing and reasoning about contact forces…
-
Artikel Jurnal
A Dexterous Soft Robotic Hand for Delicate In-Hand Manipulation
In this letter, we show that soft robotic hands provide a robust means of performing basic primitives of in-hand manipulation in the presence of uncertainty. We first discuss the design of a prototype hand with dexterous soft fingers capable of moving objects within the hand using several basic…