Self-Supervised Traversability Prediction by Learning to Reconstruct Safe Terrain

no code implementations • 2 Aug 2022 • Robin Schmid, Deegan Atha, Frederik Schöller, Sharmita Dey, Seyed Fakoorian, Kyohei Otsu, Barry Ridge, Marko Bjelonic, Lorenz Wellhausen, Marco Hutter, Ali-akbar Agha-mohammadi

Typically, this depends on a semantic understanding which is based on supervised learning from images annotated by a human expert.

Early Recall, Late Precision: Multi-Robot Semantic Object Mapping under Operational Constraints in Perceptually-Degraded Environments

no code implementations • 21 Jun 2022 • Xianmei Lei, Taeyeon Kim, Nicolas Marchal, Daniel Pastor, Barry Ridge, Frederik Schöller, Edward Terry, Fernando Chavez, Thomas Touma, Kyohei Otsu, Ali Agha

Semantic object mapping in uncertain, perceptually degraded environments during long-range multi-robot autonomous exploration tasks such as search-and-rescue is important and challenging.

Machine Vision based Sample-Tube Localization for Mars Sample Return

no code implementations • 17 Mar 2021 • Shreyansh Daftry, Barry Ridge, William Seto, Tu-Hoa Pham, Peter Ilhardt, Gerard Maggiolino, Mark Van der Merwe, Alex Brinkman, John Mayo, Eric Kulczyski, Renaud Detry

A potential Mars Sample Return (MSR) architecture is being jointly studied by NASA and ESA.

Benchmarking Template Matching

Rover Relocalization for Mars Sample Return by Virtual Template Synthesis and Matching

no code implementations • 5 Mar 2021 • Tu-Hoa Pham, William Seto, Shreyansh Daftry, Barry Ridge, Johanna Hansen, Tristan Thrush, Mark Van der Merwe, Gerard Maggiolino, Alexander Brinkman, John Mayo, Yang Cheng, Curtis Padgett, Eric Kulczycki, Renaud Detry

This work informs the Mars Sample Return campaign on the choice of a site where Perseverance (R0) will place a set of sample tubes for future retrieval by another rover (R1).

Retrieval