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We propose a learning-based method to reconstruct the local terrain for locomotion with a mobile robot traversing urban environments.
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2018
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2018
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J. Gwak, C. B. Choy, and S. Savarese, “Generative sparse detection networks for 3d single-shot object detection,” in European conference on computer vision , 2020
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2021
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J. Siekmann, K. Green, J. Warila, A. Fern, and J. Hurst, “Blind Bipedal Stair Traversal via Sim-to-Real Reinforcement Learning,” in Proceedings of Robotics: Science and Systems , July 2021
2021
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N. Rudin, D. Hoeller, P. Reist, and M. Hutter, “Learning to walk in minutes using massively parallel deep reinforcement learning,” in 5th Annual Conference on Robot Learning , 2021
2021
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A. Dai, D. Ritchie, M. Bokeloh, S. Reed, J. Sturm, and M. Nießner, “Scancomplete: Large-scale scene completion and semantic segmentation for 3d scans,” in Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition , 2018, pp. 4578–4587
2018
Cited alongside, same era.
2019
Cited alongside, same era.
J. Hwangbo, J. Lee, A. Dosovitskiy, D. Bellicoso, V. Tsounis, V. Koltun, and M. Hutter, “Learning agile and dynamic motor skills for legged robots,” Science Robotics , vol. 4, no. 26, 2019
2019
Cited alongside, same era.
C. Choy, J. Gwak, and S. Savarese, “4d spatio-temporal convnets: Minkowski convolutional neural networks,” in Proceedings of the IEEE Conference on Computer Vision and Pattern Recognition , 2019, pp. 3075–3084
2019
Cited alongside, same era.
J. Lee, J. Hwangbo, L. Wellhausen, V. Koltun, and M. Hutter, “Learning quadrupedal locomotion over challenging terrain,” Science Robotics , vol. 5, no. 47, p. eabc5986, 2020
2020
Cited alongside, same era.
2020
Cited alongside, same era.
D. Kim, D. Carballo, J. Di Carlo, B. Katz, G. Bledt, B. Lim, and S. Kim, “Vision aided dynamic exploration of unstructured terrain with a small-scale quadruped robot,” in 2020 IEEE International Conference on Robotics and Automation (ICRA) , 2020, pp. 2464–2470
2020
Cited alongside, same era.
J. Choe, S. Im, F. Rameau, M. Kang, and I. S. Kweon, “Volumefusion: Deep depth fusion for 3d scene reconstruction,” in Proceedings of the IEEE/CVF International Conference on Computer Vision (ICCV) , 2021, pp. 16 086–16 095
2021
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J. Sun, Y. Xie, L. Chen, X. Zhou, and H. Bao, “Neuralrecon: Real-time coherent 3d reconstruction from monocular video,” in Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition , 2021, pp. 15 598–15 607
2021
Later among the works it cites.
T. Miki, J. Lee, J. Hwangbo, L. Wellhausen, V. Koltun, and M. Hutter, “Learning robust perceptive locomotion for quadrupedal robots in the wild,” Science Robotics , vol. 7, no. 62, p. eabk2822, 2022
2022
Closest in time.
R. Yang, M. Zhang, N. Hansen, H. Xu, and X. Wang, “Learning vision-guided quadrupedal locomotion end-to-end with cross-modal transformers,” in International Conference on Learning Representations , 2022
2022
Closest in time.
M. Stölzle, T. Miki, L. Gerdes, M. Azkarate, and M. Hutter, “Reconstructing occluded elevation information in terrain maps with self-supervised learning,” IEEE Robotics and Automation Letters , vol. 7, no. 2, pp. 1697–1704, 2022
2022
Closest in time.
R. Grandia, F. Jenelten, S. Yang, F. Farshidian, and M. Hutter, “Perceptive locomotion through nonlinear model predictive control,” (submitted to) IEEE Transactions on Robotics , 2022
2022
Closest in time.