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This paper addresses object perception applied to mobile robotics. Being able to perceive semantically meaningful objects in unstructured environments is a key capability in order to make robots suitable to perform high-level tasks in home…
In aerial visual area coverage missions, the camera footprint changes over time based on the camera position and orientation -- a fact that complicates the whole process of coverage and path planning. This article proposes a solution to the…
Thanks to High Dynamic Range (HDR) imaging methods, the scope of photography has seen profound changes recently. To be more specific, such methods try to reconstruct the lost luminosity of the real world caused by the limitation of regular…
Precise 3D measurements of rigid surfaces are desired in many fields of application like quality control or surgery. Often, views from all around the object have to be acquired for a full 3D description of the object surface. We present a…
We present the software system developed to implement the Locus Algorithm, a novel algorithm designed to maximise the performance of differential photometry systems by optimising the number and quality of reference stars in the Field of…
In modern production facilities industrial robots and humans are supposed to interact sharing a common working area. In order to avoid collisions, the distances between objects need to be measured conservatively which can be done by a…
3D object localisation based on a sequence of camera measurements is essential for safety-critical surveillance tasks, such as drone-based wildfire monitoring. Localisation of objects detected with a camera can typically be solved with…
In photography, low depth of field (DOF) is an important technique to emphasize the object of interest (OOI) within an image. Thus, low DOF images are widely used in the application area of macro, portrait or sports photography. When…
This project aimed to develop an automated cinematography platform using an unmanned aerial vehicle. Quadcopters are a great platform for shooting aerial scenes but are difficult to maneuver smoothly and can require expertise to pilot. We…
Deep Learning based techniques have been adopted with precision to solve a lot of standard computer vision problems, some of which are image classification, object detection and segmentation. Despite the widespread success of these…
Camera calibration is a crucial step in robotics and computer vision. Accurate camera parameters are necessary to achieve robust applications. Nowadays, camera calibration process consists of adjusting a set of data to a pin-hole model,…
A 360{\deg} perception of scene geometry is essential for automated driving, notably for parking and urban driving scenarios. Typically, it is achieved using surround-view fisheye cameras, focusing on the near-field area around the vehicle.…
Manipulation planning is the problem of finding a sequence of robot configurations that involves interactions with objects in the scene, e.g., grasping and placing an object, or more general tool-use. To achieve such interactions,…
Mobile service robots are increasingly prevalent in human-centric, real-world domains, operating autonomously in unconstrained indoor environments. In such a context, robotic vision plays a central role in enabling service robots to…
The prospect of assistive robots aiding in object organization has always been compelling. In an image-goal setting, the robot rearranges the current scene to match the single image captured from the goal scene. The key to an image-goal…
While general object recognition is still far from being solved, this paper proposes a way for a robot to recognize every object at an almost human-level accuracy. Our key observation is that many robots will stay in a relatively closed…
This draft summarizes some basics about geometric computer vision needed to implement efficient computer vision algorithms for applications that use measurements from at least one digital camera mounted on a moving platform with a special…
We introduce camera ray matching (CRAYM) into the joint optimization of camera poses and neural fields from multi-view images. The optimized field, referred to as a feature volume, can be "probed" by the camera rays for novel view synthesis…
In this work, we use multi-view aerial images to reconstruct the geometry, lighting, and material of facades using neural signed distance fields (SDFs). Without the requirement of complex equipment, our method only takes simple RGB images…
Autonomy is the frontier of research in robotic surgery and its aim is to improve the quality of surgical procedures in the next future. One fundamental requirement for autonomy is advanced perception capability through vision sensors. In…