Relative localization is an important ability for multiple robots to perform cooperative tasks in
GPS-denied environments. This paper presents a novel autonomous positioning framework …

Humans tend to build environments with structure, which consists of mainly planar surfaces.
From the intersection of planar surfaces arise straight lines. Lines have more degrees of …

Aerial and space autonomous systems are safety-critical systems that need to operate safely
and reliably for long periods of time. Their applications range from autonomous inspection of …

Recovering the 3D structure of the surrounding environment is an essential task in any
vision-controlled Structure-from-Motion (SfM) scheme. This paper focuses on the theoretical …

Previous incremental estimation methods consider estimating a single line, requiring as
many observers as the number of lines to be mapped. This leads to the need for having at …

Self-supervised monocular depth estimation has been widely applied in autonomous driving
and automated guided vehicles. It offers the advantages of low cost and extended effective …

This paper developed a nonlinear visual servo control using the reverse kinematic model of
the omnidirectional platform with mecanum wheels for trajectory tracking using visual …

Depth completion aims at recovering dense depth maps from sparse LiDAR scan depth.
Previous approaches primarily tackle this challenge in a monocular setting, overlooking the …