To enable long term exploration of extreme environments such as planetary surfaces, heterogeneous robotic teams need the ability to localize themselves on previously built maps. While the Localization and Mapping problem for single sessions can be efficiently solved with many state of the art solutions, place recognition in natural environments still poses great challenges for the perception system of a robotic agent. In this paper we propose a relocalization pipeline which exploits both 3D and visual information from stereo cameras to detect matches across local point clouds of multiple SLAM sessions. Our solution is based on a Bag of Binary Words scheme where binarized SHOT descriptors are enriched with visual cues to recall in a fast and...
Abstract: In this paper we describe an approach that builds three dimensional maps using visual land...
Multi-robot systems offer several advantages over their single-robot counterpart such as robustness ...
Abstract: This paper presents an approach to Simultaneous Localization and Mapping (SLAM) based on s...
To enable long term exploration of extreme environments such as planetary surfaces, heterogeneous ro...
Robotic agents vastly increase the return of planetary exploration missions thanks to their ability ...
Planetary monocular simultaneous localization and mapping (PM-SLAM), a modular, monocular SLAM syste...
We consider the problem of rover relocalization in the context of the notional Mars Sample Return ca...
Future Mars exploration missions will have increasingly ambitious goals compared to current rover an...
This paper targets high-precision robot localization. We address a general problem for voxel-based m...
An autonomous robot typically requires a minimum capability of perceiving the surroundings and locat...
With the recent discovery of water-ice and lava tubes on the Moon and Mars along with the developmen...
Mobile robots are a crucial element of present and future scientific missions to explore the surface...
Simultaneous Localization and Mapping (SLAM) in unstructured planetary environments is a challengin...
In this paper we describe an approach that builds three dimensional maps using visual landmarks extr...
Camera systems play a key role in mobile robotics because of their reliability in varied environment...
Abstract: In this paper we describe an approach that builds three dimensional maps using visual land...
Multi-robot systems offer several advantages over their single-robot counterpart such as robustness ...
Abstract: This paper presents an approach to Simultaneous Localization and Mapping (SLAM) based on s...
To enable long term exploration of extreme environments such as planetary surfaces, heterogeneous ro...
Robotic agents vastly increase the return of planetary exploration missions thanks to their ability ...
Planetary monocular simultaneous localization and mapping (PM-SLAM), a modular, monocular SLAM syste...
We consider the problem of rover relocalization in the context of the notional Mars Sample Return ca...
Future Mars exploration missions will have increasingly ambitious goals compared to current rover an...
This paper targets high-precision robot localization. We address a general problem for voxel-based m...
An autonomous robot typically requires a minimum capability of perceiving the surroundings and locat...
With the recent discovery of water-ice and lava tubes on the Moon and Mars along with the developmen...
Mobile robots are a crucial element of present and future scientific missions to explore the surface...
Simultaneous Localization and Mapping (SLAM) in unstructured planetary environments is a challengin...
In this paper we describe an approach that builds three dimensional maps using visual landmarks extr...
Camera systems play a key role in mobile robotics because of their reliability in varied environment...
Abstract: In this paper we describe an approach that builds three dimensional maps using visual land...
Multi-robot systems offer several advantages over their single-robot counterpart such as robustness ...
Abstract: This paper presents an approach to Simultaneous Localization and Mapping (SLAM) based on s...