Related papers: Evaluation of Three Vision Based Object Perception…
In this paper, we propose an efficient semantic segmentation framework for indoor scenes, tailored to the application on a mobile robot. Semantic segmentation can help robots to gain a reasonable understanding of their environment, but to…
This work tackles scene understanding for outdoor robotic navigation, solely relying on images captured by an on-board camera. Conventional visual scene understanding interprets the environment based on specific descriptive categories.…
Robots need the capability of placing objects in arbitrary, specific poses to rearrange the world and achieve various valuable tasks. Object reorientation plays a crucial role in this as objects may not initially be oriented such that the…
When performing manipulation-based activities such as picking objects, a mobile robot needs to position its base at a location that supports successful execution. To address this problem, prominent approaches typically rely on costly grasp…
Robotics can be defined as the connection of perception to action. Taking this further, this project aims to drive a robot using an automated computer vision embedded system, connecting the robot's vision to its behavior. In order to…
This paper is a survey work for a bigger project for designing a Visual SLAM robot to generate 3D dense map of an unknown unstructured environment. A lot of factors have to be considered while designing a SLAM robot. Sensing method of the…
With the advent of state-of-the-art machine learning and deep learning technologies, several industries are moving towards the field. Applications of such technologies are highly diverse ranging from natural language processing to computer…
Embodied learning for object-centric robotic manipulation is a rapidly developing and challenging area in embodied AI. It is crucial for advancing next-generation intelligent robots and has garnered significant interest recently. Unlike…
Rearrangement planning for object retrieval tasks from confined spaces is a challenging problem, primarily due to the lack of open space for robot motion and limited perception. Several traditional methods exist to solve object retrieval…
We consider the problem of navigating a mobile robot towards a target in an unknown environment that is endowed with visual sensors, where neither the robot nor the sensors have access to global positioning information and only use…
Service robots are expected to operate effectively in human-centric environments for long periods of time. In such realistic scenarios, fine-grained object categorization is as important as basic-level object categorization. We tackle this…
One major goal of vision is to infer physical models of objects, surfaces, and their layout from sensors. In this paper, we aim to interpret indoor scenes from one RGBD image. Our representation encodes the layout of walls, which must…
The ability to interpret and comprehend a 3D scene is essential for many vision and robotics systems. In numerous applications, this involves 3D object detection, i.e.~identifying the location and dimensions of objects belonging to a…
Sensory feedback is essential for the control of soft robotic systems and to enable deployment in a variety of different tasks. Proprioception refers to sensing the robot's own state and is of crucial importance in order to deploy soft…
Grasping compliant objects is difficult for robots - applying too little force may cause the grasp to fail, while too much force may lead to object damage. A robot needs to apply the right amount of force to quickly and confidently grasp…
In this paper, we address the problem of vision-based obstacle avoidance for robotic manipulators. This topic poses challenges for both perception and motion generation. While most work in the field aims at improving one of those aspects,…
A key aspect of the precision of a mobile robots localization is the quality and aptness of the map it is using. A variety of mapping approaches are available that can be employed to create such maps with varying degrees of effort, hardware…
Due to the trending need of building autonomous robotic perception system, sensor fusion has attracted a lot of attention amongst researchers and engineers to make best use of cross-modality information. However, in order to build a robotic…
Reasoning about potential occlusions is essential for robots to efficiently predict whether an object exists in an environment. Though existing work shows that a robot with active perception can achieve various tasks, it is still unclear if…
Recognising in what type of environment one is located is an important perception task. For instance, for a robot operating in indoors it is helpful to be aware whether it is in a kitchen, a hallway or a bedroom. Existing approaches attempt…