Zobrazeno 1 - 10
of 30
pro vyhledávání: '"Gentil, Cédric"'
Navigating cluttered environments is a challenging task for any mobile system. Existing approaches for ground-based mobile systems primarily focus on small wheeled robots, which face minimal constraints with overhanging obstacles and cannot manage st
Externí odkaz:
http://arxiv.org/abs/2410.17831
This document presents a framework for lidar-inertial localisation and mapping named 2Fast-2Lamaa. The method revolves around two main steps which are the inertial-aided undistortion of the lidar data and the scan-to-map registration using a distance
Externí odkaz:
http://arxiv.org/abs/2410.05433
Real-Time Truly-Coupled Lidar-Inertial Motion Correction and Spatiotemporal Dynamic Object Detection
Over the past decade, lidars have become a cornerstone of robotics state estimation and perception thanks to their ability to provide accurate geometric information about their surroundings in the form of 3D scans. Unfortunately, most of nowadays lid
Externí odkaz:
http://arxiv.org/abs/2410.05152
Autor:
Gentil, Cedric Le, Naylor, Jack, Munasinghe, Nuwan, Mehami, Jasprabhjit, Dai, Benny, Asavkin, Mikhail, Dansereau, Donald G., Vidal-Calleja, Teresa
In-orbit automated servicing is a promising path towards lowering the cost of satellite operations and reducing the amount of orbital debris. For this purpose, we present a pipeline for automated satellite docking port detection and state estimation
Externí odkaz:
http://arxiv.org/abs/2409.15581
The increasing adoption of human-robot interaction presents opportunities for technology to positively impact lives, particularly those with visual impairments, through applications such as guide-dog-like assistive robotics. We present a pipeline exp
Externí odkaz:
http://arxiv.org/abs/2408.13394
Autor:
Lee, Ki Myung Brian, Dai, Zhirui, Gentil, Cedric Le, Wu, Lan, Atanasov, Nikolay, Vidal-Calleja, Teresa
We consider the problem of planning collision-free trajectories on distance fields. Our key observation is that querying a distance field at one configuration reveals a region of safe space whose radius is given by the distance value, obviating the n
Externí odkaz:
http://arxiv.org/abs/2408.13377
Robots reason about the environment through dedicated representations. Popular choices for dense representations exploit Truncated Signed Distance Functions (TSDF) and Octree data structures. However, TSDF provides a projective or non-projective sign
Externí odkaz:
http://arxiv.org/abs/2407.09649
On the journey to enable robots to interact with the real world where humans, animals, and unpredictable elements are acting as independent agents; it is crucial for robots to have the capability to detect dynamic objects. In this paper, we argue tha
Externí odkaz:
http://arxiv.org/abs/2310.13273
This work addresses the issue of motion compensation and pattern tracking in event camera data. An event camera generates asynchronous streams of events triggered independently by each of the pixels upon changes in the observed intensity. Providing g
Externí odkaz:
http://arxiv.org/abs/2303.02672
This paper introduces a novel method to estimate distance fields from noisy point clouds using Gaussian Process (GP) regression. Distance fields, or distance functions, gained popularity for applications like point cloud registration, odometry, SLAM,
Externí odkaz:
http://arxiv.org/abs/2302.13005