Fast Image-Anomaly Mitigation for Autonomous Mobile Robots

no code implementations • 4 Sep 2021 • Gianmario Fumagalli, Yannick Huber, Marcin Dymczyk, Roland Siegwart, Renaud Dubé

Camera anomalies like rain or dust can severelydegrade image quality and its related tasks, such as localizationand segmentation.

SegMap: Segment-based mapping and localization using data-driven descriptors

2 code implementations • 27 Sep 2019 • Renaud Dubé, Andrei Cramariuc, Daniel Dugas, Hannes Sommer, Marcin Dymczyk, Juan Nieto, Roland Siegwart, Cesar Cadena

We therefore present SegMap: a map representation solution for localization and mapping based on the extraction of segments in 3D point clouds.

Autonomous Driving Retrieval

AMZ Driverless: The Full Autonomous Racing System

4 code implementations • 13 May 2019 • Juraj Kabzan, Miguel de la Iglesia Valls, Victor Reijgwart, Hubertus Franciscus Cornelis Hendrikx, Claas Ehmke, Manish Prajapat, Andreas Bühler, Nikhil Gosala, Mehak Gupta, Ramya Sivanesan, Ankit Dhall, Eugenio Chisari, Napat Karnchanachari, Sonja Brits, Manuel Dangel, Inkyu Sa, Renaud Dubé, Abel Gawel, Mark Pfeiffer, Alexander Liniger, John Lygeros, Roland Siegwart

This paper presents the algorithms and system architecture of an autonomous racecar.

Robotics

OREOS: Oriented Recognition of 3D Point Clouds in Outdoor Scenarios

no code implementations • 19 Mar 2019 • Lukas Schaupp, Mathias Bürki, Renaud Dubé, Roland Siegwart, Cesar Cadena

We introduce a novel method for oriented place recognition with 3D LiDAR scans.

Robotics

VIZARD: Reliable Visual Localization for Autonomous Vehicles in Urban Outdoor Environments

no code implementations • 12 Feb 2019 • Mathias Bürki, Lukas Schaupp, Marcin Dymczyk, Renaud Dubé, Cesar Cadena, Roland Siegwart, Juan Nieto

Changes in appearance is one of the main sources of failure in visual localization systems in outdoor environments.

Robotics

Redundant Perception and State Estimation for Reliable Autonomous Racing

no code implementations • 26 Sep 2018 • Nikhil Bharadwaj Gosala, Andreas Bühler, Manish Prajapat, Claas Ehmke, Mehak Gupta, Ramya Sivanesan, Abel Gawel, Mark Pfeiffer, Mathias Bürki, Inkyu Sa, Renaud Dubé, Roland Siegwart

In autonomous racing, vehicles operate close to the limits of handling and a sensor failure can have critical consequences.

SegMap: 3D Segment Mapping using Data-Driven Descriptors

1 code implementation • 25 Apr 2018 • Renaud Dubé, Andrei Cramariuc, Daniel Dugas, Juan Nieto, Roland Siegwart, Cesar Cadena

While current methods extract descriptors for the single task of localization, SegMap leverages a data-driven descriptor in order to extract meaningful features that can also be used for reconstructing a dense 3D map of the environment and for extracting semantic information.

Data Compression

SegMatch: Segment based loop-closure for 3D point clouds

2 code implementations • 25 Sep 2016 • Renaud Dubé, Daniel Dugas, Elena Stumm, Juan Nieto, Roland Siegwart, Cesar Cadena

We propose SegMatch, a reliable loop-closure detection algorithm based on the matching of 3D segments.

Robotics