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Intensity-SLAM: Intensity Assisted Localization and Mapping for Large Scale Environment [article]

Han Wang, Chen Wang, Lihua Xie
2021 arXiv   pre-print
Simultaneous Localization And Mapping (SLAM) is a task to estimate the robot location and to reconstruct the environment based on observation from sensors such as LIght Detection And Ranging (LiDAR) and  ...  In this paper we introduce intensity features to a SLAM system. And we propose a novel full SLAM framework that leverages both geometry and intensity features.  ...  However, it is limited to 2D localization and mapping in a small scale environment. III.  ... 
arXiv:2102.03798v1 fatcat:ebqli7v5qban3o2hxxliwq6s54

A Novel Three-Dimensional Navigation Method for the Visually Impaired [article]

Stanley Shen
2022 arXiv   pre-print
When testing with human participants, the device allows for a 94.5% reduction in collisions with obstacles in the environment and allows for a 48.3% increase in walking speed, showing that my device enables  ...  safer and more rapid navigation for the visually impaired.  ...  Acknowledgments Thank you to my parents for supporting my research, Cathy Messenger for mentoring my project, as well as the rest of 2021-2022 ASR class for encouragement and moral support along the way  ... 
arXiv:2206.11136v1 fatcat:632kk3ydobcanc6oqhkwita2ve

Cloudroid: A Cloud Framework for Transparent and QoS-aware Robotic Computation Outsourcing [article]

Ben Hu, Huaimin Wang, Pengfei Zhang, Bo Ding, Huimin Che
2017 arXiv   pre-print
In this paper, we propose a transparent and QoS-aware software framework called Cloudroid for cloud robotic applications.  ...  Furthermore, the robot and the cloud can cooperate to maintain the specific QoS property such as request response time, even in a highly dynamic and resource-competitive environment.  ...  This work is partially supported by the National Natural Science Foundation of China (Grant No. 61202117 and 9118008), and the special program for the applied basic research of the National University  ... 
arXiv:1705.05691v1 fatcat:wria3ztugvecvjy7h3qsup7lgq

Table of Contents

2021 IEEE Robotics and Automation Letters  
Pan 1707 Intensity-SLAM: Intensity Assisted Localization and Mapping for Large ScaleEnvironment . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . .  ...  Nejat 1793 Lightweight 3-D Localization and Mapping for Solid-State LiDAR . 2745 Self-Supervised Learning of Domain-Invariant Local Features for Robust Visual Localization Under Challenging Conditions  ... 
doi:10.1109/lra.2021.3072707 fatcat:qyphyzqxfrgg7dxdol4qamrdqu

UAV Based Indoor Localization and Objection Detection

Yimin Zhou, Yimin Zhou, Zhixiong Yu, Zhuang Ma, Zhuang Ma
2022 Frontiers in Neurorobotics  
Experiments with public dataset, and field experiments on the established UAV platform in indoor environments have been carried out for visual based fast localization and object detection in real-time  ...  Then the ORB features can be extended from the keyframes for the map consistency improvement by Bundle Adjustment with local and global optimization.  ...  The system robustness can also be improved via the intensity-SLAM (Wang et al., 2021) and loop detection (Liu Y. et al., 2019) optimization.  ... 
doi:10.3389/fnbot.2022.914353 pmid:35874109 pmcid:PMC9305663 doaj:0c70771d091a45e1b417e4e8ce36c86a fatcat:atvuqjygsnbtzbcuhff6vi4opi

A laser SLAM method for unmanned vehicles in point cloud degenerated tunnel environments

LI Shuaixin, LI Jiuren, TIAN Bin, CHEN Long, WANG Li, LI Guangyun
2021 Acta Geodaetica et Cartographica Sinica  
To improve the accuracy and performance of the laser SLAM system in a point cloud degenerated tunnel environment, we present an intensity enhanced laser SLAM approach based on LOAM.  ...  Laser SLAM enables to locate the vehicle itself even in an unknown environment, and to efficiently sample the three-dimensional geospatial information of the traversed environment, which has been drawn  ...  Intensity-SLAM: intensity assisted localization and mapping for large scale environment[J]. IEEE Robotics and Automation Letters, 2021, 6(2): 1715-1721.  ... 
doi:10.11947/j.agcs.2021.20210248 doaj:7df369853e16447a9dda4f08244c4df9 fatcat:m6tz74zfgracroydbaajx6aq3u

RANGE-Robust autonomous navigation in GPS-denied environments

Abraham Bachrach, Samuel Prentice, Ruijie He, Nicholas Roy
2011 Journal of Field Robotics  
These experiments illustrate the quadrotor helicopter's ability to accurately and autonomously navigate in a number of large-scale unknown environments, both indoors and in the urban canyon.  ...  We present experimental validation and analysis for our system that enables a quadrotor helicopter, equipped with a laser range-finder sensor, to autonomously explore and map unstructured and unknown environments  ...  Acknowledgements This work was supported by the ARO MAST CTA and ONR under MURI N00014-07-1-0749 and Science of Autonomy program N00014-09-1-0641. We are grateful for their support.  ... 
doi:10.1002/rob.20400 fatcat:b56nzwledfa33g4gzh57tz2fb4

2021 Index IEEE Robotics and Automation Letters Vol. 6

2021 IEEE Robotics and Automation Letters  
Departments and other items may also be covered if they have been judged to have archival value. The Author Index contains the primary entry for each item, listed under the first author's name.  ...  The primary entry includes the coauthors' names, the title of the paper or other item, and its location, specified by the publication abbreviation, year, month, and inclusive pagination.  ...  Xie, L., Intensity-SLAM: Intensity Assisted Localiza-tion and Mapping for Large Scale Environment ; LRA April 2021 1715-1721 Wang, H., see Lu, L., LRA April 2021 2052-2059 Wang, H.Wang, J., Hu, C., and  ... 
doi:10.1109/lra.2021.3119726 fatcat:lsnerdofvveqhlv7xx7gati2xu

Design of Flying Robots for Collision Absorption and Self-Recovery

Adam Klaptocz
At this moment the only platforms capable of navigating confined spaces such as narrow corridors do so by mapping their environment with high-density laser scanners and computation-intensive SLAM algorithms  ...  any obstacle detection, localization or mapping.  ...  sensors and actuators for future platforms.  ... 
doi:10.5075/epfl-thesis-5438 fatcat:yg3vauubvfaq7izl53jatpnvxa

Hydrodynamic analysis of ship and marine biomimetic systems in waves using GPGPU programming [article]

Ευάγγελος Φίλιππας, National Technological University Of Athens, National Technological University Of Athens
Mamis, for the support and their very useful advice.  ...  Moreover, of utmost importance was the inspiration of the aforementioned researchers, as well as assistant professor Papathanasiou, associate professor Gerostathis and professor Tzabiras during my studies  ...  In this way the small-scale instabilities are suppressed, leaving the large-scale organized vortices to govern the evolution of the vortex sheet, generating smooth roll-up patterns, even at highly loaded  ... 
doi:10.26240/heal.ntua.3099 fatcat:lf7yee4565goxj42ntjd4rynpq