Peter Muehlfellner, Mathias Buerki, Michael Bosse, Wojciech Derendarz, Roland Philippsen and Paul Furgale Journal of Field Robotics Robots that use vision for localization need to handle environments which are subject to seasonal and structural change, and operate under changing lighting and weather conditions. We present a framework for lifelong localization and mapping designed to provide
read more
H. Grimmett, M. Buerki, L. Paz, P. Piniés, P. Furgale, I. Posner, and P. Newman CONFERENCE We present a framework for integrating two layers of map which are often required for fully automated operation: metric and semantic. Metric maps are likely to improve with subsequent visitations to the same place, while semantic maps can comprise
read more
U. Schwesinger, P. Versari, A. Broggi and R. Siegwart it – Information Technology, 2015 In this work an overview of the motion planning and dynamic perception framework within the V-Charge project is presented. This framework enables the V-Charge car to autonomously navigate in dynamic mixed-traffic scenarios. Other traffic participants are detected, classified and tracked from
read more
U. Schwesinger, P. Furgale, and R. Siegwart IEEE International Conference on Intelligent Robots and Systems (ICRA), 2015 This paper presents a fast collision-detection method for sampling-based motion planners based on bounding volume hierarchies in workspace-time space. By introducing time as an additional dimension to the robot’s workspace, the method is able to quickly evaluate time-indexed
read more
P. Furgale, P. Krüsi, F. Pomerleau, U. Schwesinger, F. Colas, and R. Siegwart IEEE International Conference on Intelligent Robots and Systems (ICRA), 2014 Topological/metric route following, also called teach and repeat (T&R), enables long-range autonomous navigation even without globally consistent localization. This ren- ders T&R ideal for applications where a global positioning system may not
read more
Paul Furgale, Joern Rehder and Roland Siegwart IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) In order to increase accuracy and robustness in state estimation for robotics, a growing number of applications rely on data from multiple complementary sensors. For the best performance in sensor fusion, these different sensors must be spatially and temporally
read more
Laurent Kneip and Paul Timothy Furgale IEEE International Conference on Robotics and Automation (ICRA) 2014 OpenGV is a new C++ library for calibrated real- time 3D geometric vision. It unifies both central and non-central absolute and relative camera pose computation algorithms within a single library. Each problem type comes with minimal and non-minimal closed-form solvers,
read more
Barfoot, Furgale Robotics, IEEE Transactions on, 30(3), pp. 679-693 In this paper, we provide specific and practical approaches to associate uncertainty with 4 ?? 4 transformation matrices, which is a common representation for pose variables in 3-D space. We show constraint-sensitive means of perturbing transformation matrices using their associated exponential-map generators and demonstrate these tools
read more
Lionel Heng, Mathias Buerki, Gim Hee Lee, Paul Furgale, Roland Siegwart, and Marc Pollefeys 2014 IEEE International Conference on Robotics and Automation (ICRA) The online recalibration of multi-sensor systems is a fundamental problem that must be solved before complex automated systems are deployed in situations such as automated driving. In such situations, accurate knowledge of
read more
Peter Muehlfellner, Paul Furgale, Wojciech Derendarz, Roland Philippsen IEEE Intelligent Vehicles Symposium (IVS) 2013 The European V-Charge project seeks to develop fully automated valet parking and charging of electric vehicles using only low-cost sensors. One of the challenges is to implement robust visual localization using only cameras and stock vehicle sensors. We integratedfour monocular, wide-angle,
read more
The Autonomous Systems Lab (ETH-ASL), from the Eidgenössische Technische Hochschule Zürich (ETHZ), is an internationally renowned research unit in the field of autonomous robot design and navigation. Its field of competence spans from flying micro-helicopters all the way up to space rovers, service robots and semi-autonomous cars. ETHZ – ASL is one of the largest and most renowned robotics labs in Europe. It consists of around 35 researchers and application engineers and is involved in various national, European and ESA projects. https://www.asl.ethz.ch/
