no code implementations • 1 Mar 2022 • Chunwei Xing, Xinyu Sun, Andrei Cramariuc, Samuel Gull, Jen Jen Chung, Cesar Cadena, Roland Siegwart, Florian Tschopp
However, handcrafted topological descriptors are hard to tune and not robust to environmental noise, drastic perspective changes, object occlusion or misdetections.
1 code implementation • 30 Sep 2021 • Yunke Ao, Le Chen, Florian Tschopp, Michel Breyer, Andrei Cramariuc, Roland Siegwart
Our approach models the calibration process compactly using model-free deep reinforcement learning to derive a policy that guides the motions of a robotic arm holding the sensor to efficiently collect measurements that can be used for both camera intrinsic calibration and camera-IMU extrinsic calibration.
no code implementations • 20 Sep 2021 • Florian Tschopp, Juan Nieto, Roland Siegwart, Cesar Cadena
Introducing semantically meaningful objects to visual Simultaneous Localization And Mapping (SLAM) has the potential to improve both the accuracy and reliability of pose estimates, especially in challenging scenarios with significant view-point and appearance changes.
1 code implementation • 25 Mar 2021 • Dominic Streiff, Lukas Bernreiter, Florian Tschopp, Marius Fehr, Roland Siegwart
Furthermore, 3D feature-based registration methods have never quite reached the robustness of 2D methods in visual SLAM.
1 code implementation • 16 Feb 2021 • Florian Tschopp, Cornelius von Einem, Andrei Cramariuc, David Hug, Andrew William Palmer, Roland Siegwart, Margarita Chli, Juan Nieto
As a basis for a localization system we propose a complete on-board mapping pipeline able to map robust meaningful landmarks, such as poles from power lines, in the vicinity of the vehicle.
1 code implementation • 4 Nov 2020 • Le Chen, Yunke Ao, Florian Tschopp, Andrei Cramariuc, Michel Breyer, Jen Jen Chung, Roland Siegwart, Cesar Cadena
Visual-inertial systems rely on precise calibrations of both camera intrinsics and inter-sensor extrinsics, which typically require manually performing complex motions in front of a calibration target.
1 code implementation • 21 Oct 2020 • Felix Taubner, Florian Tschopp, Tonci Novkovic, Roland Siegwart, Fadri Furrer
In this paper, we introduce a novel learning-based approach to place recognition, using RGB-D cameras and line clusters as visual and geometric features.
no code implementations • 13 Aug 2020 • Cedric Le Gentil, Florian Tschopp, Ignacio Alzugaray, Teresa Vidal-Calleja, Roland Siegwart, Juan Nieto
The method's front-end extracts event clusters that belong to line segments in the environment whereas the back-end estimates the system's trajectory alongside the lines' 3D position by minimizing point-to-line distances between individual events and the lines' projection in the image space.
no code implementations • 2 Apr 2020 • Kenneth Blomqvist, Michel Breyer, Andrei Cramariuc, Julian Förster, Margarita Grinvald, Florian Tschopp, Jen Jen Chung, Lionel Ott, Juan Nieto, Roland Siegwart
With humankind facing new and increasingly large-scale challenges in the medical and domestic spheres, automation of the service sector carries a tremendous potential for improved efficiency, quality, and safety of operations.
2 code implementations • 5 Dec 2019 • Florian Tschopp, Michael Riner, Marius Fehr, Lukas Bernreiter, Fadri Furrer, Tonci Novkovic, Andreas Pfrunder, Cesar Cadena, Roland Siegwart, Juan Nieto
Robust and accurate pose estimation is crucial for many applications in mobile robotics.