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We propose a method for navigation of autonomous underwater vehicle based on visual odometry with regard to the conditions of the local maneuvers. The method is based on the SLAM-algorithm for stereo images and recognition algorithm for re-visited places. The operation of the algorithm for places recognition is based on using of virtual network for coordinate binding, which is constructed at the time...
This paper is about life-long vast-scale localisation in spite of changes in weather, lighting and scene structure. Building upon our previous work in Experience-based Navigation [1], we continually grow and curate a visual map of the world that explicitly supports multiple representations of the same place. We refer to these representations as experiences, where a single experience captures the appearance...
The use of unmanned aerial vehicles (UAV) offers a unique possibility to capture visual information in areas which are hard to reach or dangerous for humans. For UAVs to become a standard tool in visual inspection, it is of utmost importance that the aerial robot can be operated efficiently by a non-expert UAV pilot and that the navigation system is robust enough to remain operational in rough, industrial...
This paper presents a solution to the 3D Range-Only beacon localization problem using a Sum of Gaussians (SOG) filter together with an Active Localization method, which is based on the minimization of the beacon position uncertainty, in order to ensure the problem observability and a fast convergence. The method is applied to autonomously locate a subsea panel and home to it in order to establish...
This paper presents a completely autonomous solution to participate in the 2013 International Micro Air Vehicle Indoor Flight Competition (IMAV2013). Our proposal is a modular multi-robot swarm architecture, based on the Robot Operating System (ROS) software framework, where the only information shared among swarm agents is each robot's position. Each swarm agent consists of an AR Drone 2.0 quadrotor...
Embodied nonverbal cues are fundamental for regulating human-human social interactions. The physical embodiment of robots makes it likely that they will have to exhibit appropriate nonverbal interactive behaviors. In this paper we propose a model of the user's proximity based on a superposition of quasi-Gaussian probability distributions which allows to express findings from HRI trials regarding distances...
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