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utiasASRL
Добавлен 8 июн 2009
This channel contains videos related to the Autonomous Space Robotics Lab (ASRL) at the University of Toronto Institute for Aerospace Studies (UTIAS).
Change of Scenery: Unsupervised Change Detection for Mobile Robots
This video is associated with the following paper:
A Krawciw, J Sehn, T D Barfoot, "Change of Scenery: Unsupervised LiDAR Change Detection for Mobile Robots"
arxiv.org/abs/2309.10924
A Krawciw, J Sehn, T D Barfoot, "Change of Scenery: Unsupervised LiDAR Change Detection for Mobile Robots"
arxiv.org/abs/2309.10924
Просмотров: 240
Видео
Toward Plug-and-Play Global Optimality in Robotics @ MIT
Просмотров 1,3 тыс.9 месяцев назад
Postdoc Frederike Duembgen talks about our progress on global optimality for robotic state estimation during a recent visit to MIT.
Picking Up Speed (Doppler Lidar) @ ICRA 2023 in London
Просмотров 14510 месяцев назад
This paper details a Doppler lidar odometry algorithm that is able to handle geometrically degenerate situations such as long tunnels by exploiting lidar velocity information. It is associated with this paper: "Picking Up Speed: Continuous-Time Lidar-Only Odometry using Doppler Velocity Measurements" arxiv.org/abs/2209.03304
Field Testing of VT&R with Obstacle Avoidance 2023 @ DRDC Suffield
Просмотров 19510 месяцев назад
This video shows some field tests of local obstacle avoidance incorporated into a lidar version of teach and repeat. It is associated with the below paper: "Off the Beaten Track: Laterally Weighted Motion Planning for Local Obstacle Avoidance" arxiv.org/abs/2309.09334
Need for Speed (Doppler Lidar) @ IROS 2023 in Detroit
Просмотров 13610 месяцев назад
This paper details a fast doppler lidar odometry algorithm that avoids data correspondences by using velocity information. It is associated with the below paper: "Need for Speed: Fast Correspondence-Free Lidar-Inertial Odometry Using Doppler Velocity" arxiv.org/abs/2303.06511
Boat Field Trials 2023 @ Nine Mile Lake
Просмотров 4910 месяцев назад
This video shows highlights of some Unmanned Surface Vessel (USV) testing targeted at water-quality monitoring applications. It is associated with the below paper: "Field Testing of a Stochastic Planner for ASV Navigation Using Satellite Images" arxiv.org/abs/2309.14657
Picking Up Speed: Continuous- Time Lidar-Only Odometry using Doppler Velocity Measurements @ ICRA 23
Просмотров 464Год назад
This video shows how we can use an FMCW Doppler lidar to estimate motion reliably even in places with degenerate geometry such as long tunnels: Wu Y, Yoon D J, Burnett K, Kammel S, Chen Y, Vhavle H, and Barfoot T D. “Picking Up Speed: Continuous- Time Lidar-Only Odometry using Doppler Velocity Measurements”. IEEE Robotics and Automation Letters (RAL), 8(1):264-271, 2023. arxiv.org/abs/2209.03304
Are We Ready for Radar to Replace Lidar in All-Weather Mapping and Localization? @ IROS 2022
Просмотров 419Год назад
This video discusses the following paper on radar as a substitute for lidar in all-weather mapping and localization: Burnett K, Wu Y, Yoon D J, Schoellig A P, and Barfoot T D. “Are We Ready for Radar to Replace Lidar in All-Weather Mapping and Localization?” IEEE Robotics and Automation Letters (RAL), 7(4):10328-10335, 2022 arxiv.org/abs/2203.10174
Radar Mapping and Localization @ UTIAS 2022
Просмотров 1,2 тыс.2 года назад
A video of our radar-based mapping and localization running on a dataset gathered near UTIAS. We are investigating this as an alternative to lidar mapping and localization for bad weather conditions. This video is related to the following paper: Burnett K, Wu Y, Yoon D J, Schoellig A P, and Barfoot T D. “Should Radar Replace Lidar in All-Weather Localization and Mapping?” arxiv.org/abs/2203.10174
Boreas Dataset: Excerpts from One Year @ UTIAS 2021
Просмотров 6752 года назад
This video shows highlights from a dataset for autonomous driving research comprising lidar, radar, camera, GPS/INS collected over a full year. The following paper provides more details: Burnett K, Yoon D J, Wu Y, Li A, Zhang H, Li S, Qian J, Tseng W, Lambert A, Leung K, Schoellig A P, and Barfoot T D. “Boreas: A Multi-Season Autonomous Driving Dataset" arxiv.org/abs/2203.10168
Keeping an Eye on Things @ ICRA/RAL 2022
Просмотров 9582 года назад
This video is associated with the paper: Gridseth M and Barfoot T D. “Keeping an Eye on Things: Deep Learned Features for Long-Term Visual Localization”. IEEE Robotics and Automation Letters (RAL), 7(2):1016-1023, 2022.
VTR demo @ 3DV
Просмотров 2982 года назад
A short video about Visual Teach and Repeat including deep-learned features for long-term localization. More can be found in this paper: Gridseth M and Barfoot T D. “Keeping an Eye on Things: Deep Learned Features for Long-Term Visual Localization”. IEEE Robotics and Automation Letters (RAL), to appear, 2022. (arXiv:2109.04041 [cs.RO])
Keeping an Eye on Things, Keynote Talk @ IROS 2021
Просмотров 1,4 тыс.2 года назад
IROS 2021 Keynote Talk: Keeping an Eye on Things: Can We Build a Long-Term Navigation System Based on Vision?
VT&R3 User Tutorial
Просмотров 5482 года назад
This short video shows how to use the Visual Teach & Repeat 3 navigation package for visual path following. It discusses the steps of both teaching and repeating paths from the perspective of a user operating the robot through the provided graphical user interface.
“Radar Odometry Combining Probabilistic Estimation and Unsupervised Feature Learning” @ RSS 2021
Просмотров 4753 года назад
Recording of the following RSS 2021 conference talk: Burnett K, Yoon D, Schoellig A P, and Barfoot T D. “Radar Odometry Combining Probabilistic Estimation and Unsupervised Feature Learning”. In Proceedings of Robotics: Science and Systems (RSS), 2021 arxiv.org/abs/2105.14152
"Self-Supervised Learning of Lidar Segmentation for Autonomous Indoor Navigation" @ ICRA 2021
Просмотров 9693 года назад
"Self-Supervised Learning of Lidar Segmentation for Autonomous Indoor Navigation" @ ICRA 2021
"Do We Need to Compensate for Motion Distortion ... in Spinning Radar Navigation?" @ ICRA 2021
Просмотров 2033 года назад
"Do We Need to Compensate for Motion Distortion ... in Spinning Radar Navigation?" @ ICRA 2021
"UAV Localization Using Autoencoded Satellite Images" @ ICRA 2021
Просмотров 1,1 тыс.3 года назад
"UAV Localization Using Autoencoded Satellite Images" @ ICRA 2021
"MCMC Occupancy Grid Mapping with a Data-Driven Patch Prior" @ ICRA 2021
Просмотров 3873 года назад
"MCMC Occupancy Grid Mapping with a Data-Driven Patch Prior" @ ICRA 2021
"Unsupervised Learning of Lidar Features ..." @ ICRA 2021
Просмотров 6353 года назад
"Unsupervised Learning of Lidar Features ..." @ ICRA 2021
"Radar, Warts and All: Recent Progress Towards Spinning Radar Navigation" @ ICRA 2021
Просмотров 3103 года назад
"Radar, Warts and All: Recent Progress Towards Spinning Radar Navigation" @ ICRA 2021
"Dark, Damp, and Dynamic: Recent Progress on Robotic Localization" @ ICRA 2021
Просмотров 7313 года назад
"Dark, Damp, and Dynamic: Recent Progress on Robotic Localization" @ ICRA 2021
"Relatively Lazy: Indoor-Outdoor Navigation Using Vision and GNSS" @ CRV 2021
Просмотров 1893 года назад
"Relatively Lazy: Indoor-Outdoor Navigation Using Vision and GNSS" @ CRV 2021
TSLAM: Tethered Simultaneous Localization and Mapping for Mobile Robots @ UTIAS (IJRR 2017)
Просмотров 1,3 тыс.7 лет назад
TSLAM: Tethered Simultaneous Localization and Mapping for Mobile Robots @ UTIAS (IJRR 2017)
Triaged Multi-Experience Localization (MEL) @ UTIAS (ICRA 2017)
Просмотров 3967 лет назад
Triaged Multi-Experience Localization (MEL) @ UTIAS (ICRA 2017)
Triaged Multi-Experience Localization (MEL) @ UTIAS (ICRA 2017)
Просмотров 2967 лет назад
Triaged Multi-Experience Localization (MEL) @ UTIAS (ICRA 2017)
Triaged Multi-Experience Localization (MEL) @ UTIAS (ICRA 2017)
Просмотров 2337 лет назад
Triaged Multi-Experience Localization (MEL) @ UTIAS (ICRA 2017)