ORI Blog

/ORI Blog

Laser Localization

What's the problem? Motivation This is a blog post designed for non-technical people to understand the basics of localization. As such we are not going to touch any code but rather interactively present you with examples how these systems run and what makes them tick. Localization is an essential [...]

Laser Localization 2018-12-10T16:38:44+00:00

What about radar?

Radar is awesome. When most people think of radar, they imagine a line sweeping around an old CRT display with its characteristic green hue - interrupted by approaching aircraft, or perhaps distant ships over the horizon. While our experience with cameras and GPS has remained up-to-date as hardware has [...]

What about radar? 2018-11-21T12:29:11+00:00

Mission Planning for Mobile Robots with Probabilistic Guarantees

Consider an office robot that must execute a range of tasks such as guiding visitors to offices; checking whether fire exits are clear; carrying and delivering items as requested by office users; and making announcements (“staff meeting in 10 minutes!”). A crucial requirement for such a robot [...]

Mission Planning for Mobile Robots with Probabilistic Guarantees 2018-09-26T21:21:19+00:00

Multimotion Visual Odometry

Just as we use our eyes to perceive and navigate the world, many autonomous vehicles and systems rely on cameras to observe their environment. As we move through the world, we can watch as the world seems to move past us. We’ve long understood how to accurately estimate this [...]

Multimotion Visual Odometry 2018-09-10T16:44:26+00:00

Road Boundary Detection

This blog post provides an overview of our paper “Inferring Road Boundaries Through and Despite Traffic” by Tarlan Suleymanov, Paul Amayo and Paul Newman, which has been accepted for publication at the 21st IEEE International Conference on Intelligent Transportation Systems (ITSC) 2018. In the context of autonomous driving, road [...]

Road Boundary Detection 2018-08-17T10:46:02+00:00

Self-Driving Cars: How Close Are We Really? (without the hype)

For the last couple of years we have heard many companies and CEOs promising us fully autonomous cars in 2018 - 2020 [1, 2, 3, 4]. We are halfway through 2018 and, although they are definitely making progress, I do not see fully autonomous cars operating on a large scale [...]

Self-Driving Cars: How Close Are We Really? (without the hype) 2018-08-08T20:34:01+00:00

Radar for mobile autonomy

Classic sensor systems for mobile robotic platforms depend primarily on vision and lidar sensors, incorporating the GPS and IMU for additional robustness. Although radar has been well studied for target detection over the past century, its role in mobile robotics has been limited. Radars have mostly served as warning sensors, alerting autonomous systems [...]

Radar for mobile autonomy 2018-08-07T15:35:59+00:00

Geometric Multi-Model Extraction For Robotics

The extraction of geometric models has long been of interest to the robotics community. Many interesting applications such as homography,plane estimation and ego-motion estimation demand the ability to fit geometric models onto noisy data. Additionally, these geometric models are often drivers of other algorithms for algorithms  navigation, perception and 3D reconstructions creating an increased [...]

Geometric Multi-Model Extraction For Robotics 2018-08-07T15:36:51+00:00

Estimation, Search, and Path Planning

ORI is expanding! I'm starting a new research group focused on estimation, search, and path planning. It's a continuation of my previous work developing and deploying theoretically well-founded robotic algorithms here and at the University of Toronto. As is the ORI way, we will be testing the work on a variety of real-world robotic applications. [...]

Estimation, Search, and Path Planning 2018-03-02T14:16:46+00:00

Where did my robot go? Being robust and cautious during Laser-based Localization

Let’s imagine a scenario where a robot, either walking on two or four legs or moving on wheels, is required to explore a cluttered environment containing corridors, constrictions, uneven terrains or staircases. The robot would process proprioceptive inertial and leg/wheel odometry measurements, as well as exteroceptive observations from a 3D laser scanner. The odometry estimate [...]

Where did my robot go? Being robust and cautious during Laser-based Localization 2018-02-15T08:00:01+00:00