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In this paper, we introduce an informative path planning (IPP) framework for active classification using unmanned aerial vehicles (UAVs). Our algorithm uses a combination of global viewpoint selection and evolutionary optimization to refine the planned trajectory in continuous 3D space while satisfying dynamic constraints. Our approach is evaluated on the application of weed detection for precision...
Robots that are operating for extended periods of time need to be able to deal with changes in their environment and represent them adequately in their maps. In this paper, we present a novel 3D reconstruction algorithm based on an extended Truncated Signed Distance Function (TSDF) that enables to continuously refine the static map while simultaneously obtaining 3D reconstructions of dynamic objects...
This work proposes a new path-planning framework that provides uniform coverage of 3D structures by employing an iterative strategy to improve the inspection path that benefits from remeshing-techniques, while the first full solution is computed very fast. The resulting paths inspect each detail of the structure from a distance that directly depends to the local geometrical complexity of the structure...
New applications of mobile robotics in dynamic urban areas require more than the single-session geometric maps that have dominated simultaneous localization and mapping (SLAM) research to date; maps must be updated as the environment changes and include a semantic layer (such as road network information) to aid motion planning in dynamic environments. We present an algorithm for long-term localization...
This paper presents a novel approach to tracking dynamic objects in 3D range data. Its key contribution lies in the generative object detection algorithm which allows the tracker to robustly extract objects of varying sizes and shapes from the observations. In contrast to tracking methods using discriminative detectors, we are thus able to generalize over a wide range of object classes matching our...
In this paper we present a topological map building algorithm based on a Vocabulary Tree that is robust to features present in dynamic or similar environments. The algorithm recognises incorrect loop closures, not supported by the odometry, and uses this information to update the feature weights in the tree to suppress further associations from these features. Two methods of adjusting these feature...
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