Zobrazeno 1 - 10
of 23
pro vyhledávání: '"Labbe, Mathieu"'
Autor:
Labbe, Mathieu, Michaud, François
Publikováno v:
IEEE/RSJ International Conference on Intelligent Robots and Systems, Chicago, IL, USA, 2014, pp. 2661-2666
For large-scale and long-term simultaneous localization and mapping (SLAM), a robot has to deal with unknown initial positioning caused by either the kidnapped robot problem or multi-session mapping. This paper addresses these problems by tying the S
Externí odkaz:
http://arxiv.org/abs/2407.15305
Autor:
Labbé, Mathieu, Michaud, François
Publikováno v:
IEEE Transactions on Robotics, vol. 29, no. 3, pp. 734-745, June 2013
In appearance-based localization and mapping, loop closure detection is the process used to determinate if the current observation comes from a previously visited location or a new one. As the size of the internal map increases, so does the time requ
Externí odkaz:
http://arxiv.org/abs/2407.15304
Autor:
Labbé, Mathieu, Michaud, François
Publikováno v:
IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, CA, USA, 2011, pp. 1271-1276
Loop closure detection is the process involved when trying to find a match between the current and a previously visited locations in SLAM. Over time, the amount of time required to process new observations increases with the size of the internal map,
Externí odkaz:
http://arxiv.org/abs/2407.15890
Autor:
Labbé, Mathieu, Michaud, François
Publikováno v:
M. Labb\'e and F. Michaud, RTAB-Map as an Open-Source Lidar and Visual SLAM Library for Large-Scale and Long-Term Online Operation, in Journal of Field Robotics, vol. 36, no. 2, pp. 416-446, 2019
Distributed as an open source library since 2013, RTAB-Map started as an appearance-based loop closure detection approach with memory management to deal with large-scale and long-term online operation. It then grew to implement Simultaneous Localizat
Externí odkaz:
http://arxiv.org/abs/2403.06341
Autor:
Labbé, Mathieu, Michaud, François
Publikováno v:
M. Labb\'e and F. Michaud, Long-term online multi-session graph-based SPLAM with memory management, in Autonomous Robots, vol. 42, no. 6, pp. 1133-1150, 2017
For long-term simultaneous planning, localization and mapping (SPLAM), a robot should be able to continuously update its map according to the dynamic changes of the environment and the new areas explored. With limited onboard computation capabilities
Externí odkaz:
http://arxiv.org/abs/2301.00050
This work presents an extension of graph-based SLAM methods to exploit the potential of 3D laser scans for loop detection. Every high-dimensional point cloud is replaced by a compact global descriptor, whereby a trained detector decides whether a loo
Externí odkaz:
http://arxiv.org/abs/2103.06713
Autor:
Panchea, Adina M., Létourneau, Dominic, Brière, Simon, Hamel, Mathieu, Maheux, Marc-Antoine, Godin, Cédric, Tousignant, Michel, Labbé, Mathieu, Ferland, François, Grondin, François, Michaud, François
As telecommunications technology progresses, telehealth frameworks are becoming more widely adopted in the context of long-term care (LTC) for older adults, both in care facilities and in homes. Today, robots could assist healthcare workers when they
Externí odkaz:
http://arxiv.org/abs/2103.06171
Autor:
Labbé, Mathieu, Michaud, François
Publikováno v:
M. Labb\'e and F. Michaud, Multi-Session Visual SLAM for Illumination-Invariant Re-Localization in Indoor Environments, in Frontiers in Robotics and AI, vol. 9, 2022
For robots navigating using only a camera, illumination changes in indoor environments can cause re-localization failures during autonomous navigation. In this paper, we present a multi-session visual SLAM approach to create a map made of multiple va
Externí odkaz:
http://arxiv.org/abs/2103.03827
Autor:
Vincent, Jonathan, Labbé, Mathieu, Lauzon, Jean-Samuel, Grondin, François, Comtois-Rivet, Pier-Marc, Michaud, François
In dynamic environments, performance of visual SLAM techniques can be impaired by visual features taken from moving objects. One solution is to identify those objects so that their visual features can be removed for localization and mapping. This pap
Externí odkaz:
http://arxiv.org/abs/2008.00072
Autor:
Michaud, Simon, Faucher, Samuel, Grondin, François, Lauzon, Jean-Samuel, Labbé, Mathieu, Létourneau, Dominic, Ferland, François, Michaud, François
A microphone array can provide a mobile robot with the capability of localizing, tracking and separating distant sound sources in 2D, i.e., estimating their relative elevation and azimuth. To combine acoustic data with visual information in real worl
Externí odkaz:
http://arxiv.org/abs/2007.11079