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Humans excel in grasping and manipulating objects because of their life-long experience and knowledge about the 3D shape and weight distribution of objects. However, the lack of such intuition in robots makes robotic grasping an…
In this paper, a novel optical inspection system is presented that is directly suitable for Industry 4.0 and the implementation on IoT-devices controlling the manufacturing process. The proposed system is capable of distinguishing between…
Computer vision has evolved in the last decade as a key technology for numerous applications replacing human supervision. In this paper, we present a survey on relevant visual surveillance related researches for anomaly detection in public…
The quality of robot vision greatly affects the performance of automation systems, where occlusions stand as one of the biggest challenges. If the target is occluded from the sensor, detecting and grasping such objects become very…
Segmentation of overlapping convex objects has various applications, for example, in nanoparticles and cell imaging. Often the segmentation method has to rely purely on edges between the background and foreground making the analyzed images…
The ability to visually recognize objects is a fundamental skill for robotics systems. Indeed, a large variety of tasks involving manipulation, navigation or interaction with other agents, deeply depends on the accurate understanding of the…
Crack is one of the most common road distresses which may pose road safety hazards. Generally, crack detection is performed by either certified inspectors or structural engineers. This task is, however, time-consuming, subjective and…
Deformable linear objects (e.g., cables, ropes, and threads) commonly appear in our everyday lives. However, perception of these objects and the study of physical interaction with them is still a growing area. There have already been…
Line detection is a classic and essential problem in image processing, computer vision and machine intelligence. Line detection has many important applications, including image vectorization (e.g., document recognition and art design),…
Steel pipes are widely used in high-risk and high-pressure scenarios such as oil, chemical, natural gas, shale gas, etc. If there is some defect in steel pipes, it will lead to serious adverse consequences. Applying object detection in the…
This work introduces an analytical approach for detecting and estimating external forces acting on deformable linear objects (DLOs) using only their observed shapes. In many robot-wire interaction tasks, contact occurs not at the…
This paper addresses the challenge of perceiving complete object shapes through visual perception. While prior studies have demonstrated encouraging outcomes in segmenting the visible parts of objects within a scene, amodal segmentation, in…
Construction robots operate in unstructured construction sites, where effective visual perception is crucial for ensuring safe and seamless operations. However, construction robots often handle large elements and perform tasks across…
Computer vision is used in this work to detect lighting elements in buildings with the goal of improving the accuracy of previous methods to provide a precise inventory of the location and state of lamps. Using the framework developed in…
"Wireframe" is a line segment based representation designed to well capture large-scale visual properties of regular, structural shaped man-made scenes surrounding us. Unlike the wireframes, conventional edges or line segments focus on all…
One of the fundamental steps toward understanding a complex system is identifying variation at the scale of the system's components that is most relevant to behavior on a macroscopic scale. Mutual information provides a natural means of…
Power lines are dangerous for low-flying aircraft, especially in low-visibility conditions. Thus, a vision-based system able to analyze the aircraft's surroundings and to provide the pilots with a "second pair of eyes" can contribute to…
Automating the current bridge visual inspection practices using drones and image processing techniques is a prominent way to make these inspections more effective, robust, and less expensive. In this paper, we investigate the development of…
Humans can accurately determine whether the object in hand has slipped or not by visual and tactile perception. However, it is still a challenge for robots to detect in-hand object slip through visuo-tactile fusion. To address this issue, a…
Video understanding of robot-assisted surgery (RAS) videos is an active research area. Modeling the gestures and skill level of surgeons presents an interesting problem. The insights drawn may be applied in effective skill acquisition,…