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While today's robots are able to perform sophisticated tasks, they can only act on objects they have been trained to recognize. This is a severe limitation: any robot will inevitably see new objects in unconstrained settings, and thus will…
The device used in this work detects the objects over the surface of the water using two thermal cameras which aid the users to detect and avoid the objects in scenarios where the human eyes cannot (night, fog, etc.). To avoid the obstacle…
In this paper, we propose a object detection method expressed as rotated bounding box to solve grasping challenge in the scenes where rigid objects and soft objects are mixed together. Compared with traditional detection methods, this…
The classification and the position estimation of objects become more and more relevant as the field of robotics is expanding in diverse areas of society. In this Bachelor Thesis, we developed a cone detection algorithm for an autonomous…
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…
Goal: A limitation in robotic surgery is the lack of force feedback, due to challenges in suitable sensing techniques. To enhance the perception of the surgeons and precise force rendering, estimation of these forces along with tissue…
Surface cracks in infrastructure can lead to severe deterioration and expensive maintenance if not efficiently repaired. Manual repair methods are labor-intensive, time-consuming, and imprecise. While advancements in robotic perception and…
Robotic manipulation of deformable 1D objects such as ropes, cables, and hoses is challenging due to the lack of high-fidelity analytic models and large configuration spaces. Furthermore, learning end-to-end manipulation policies directly…
The visual sensing system is one of the most important parts of the welding robots to realize intelligent and autonomous welding. The active visual sensing methods have been widely adopted in robotic welding because of their higher…
Automatic detection and segmentation of overlapping leaves in dense foliage can be a difficult task, particularly for leaves with strong textures and high occlusions. We present Dense-Leaves, an image dataset with ground truth segmentation…
Currently, there are computer vision systems that help us with tasks that would be dull for humans, such as surveillance and vehicle tracking. An important part of this analysis is to identify traffic anomalies. An anomaly tells us that…
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…
We present a conceptually simple yet effective algorithm to detect wireframes in a given image. Compared to the previous methods which first predict an intermediate heat map and then extract straight lines with heuristic algorithms, our…
Automotive cameras, particularly surround-view cameras, tend to get soiled by mud, water, snow, etc. For higher levels of autonomous driving, it is necessary to have a soiling detection algorithm which will trigger an automatic cleaning…
Accurate lane localization and lane change detection are crucial in advanced driver assistance systems and autonomous driving systems for safer and more efficient trajectory planning. Conventional localization devices such as Global…
Many objects commonly found in household and industrial environments are represented by cylindrical and cubic shapes. Thus, it is available for robots to manipulate them through the real-time detection of elliptic and rectangle shape…
Computer Vision (CV) has achieved remarkable results, outperforming humans in several tasks. Nonetheless, it may result in significant discrimination if not handled properly as CV systems highly depend on the data they are fed with and can…
Vision-based road detection is an essential functionality for supporting advanced driver assistance systems (ADAS) such as road following and vehicle and pedestrian detection. The major challenges of road detection are dealing with shadows…
Robotic grasping presents a difficult motor task in real-world scenarios, constituting a major hurdle to the deployment of capable robots across various industries. Notably, the scarcity of data makes grasping particularly challenging for…
Recently, several clustering algorithms have been used to solve variety of problems from different discipline. This dissertation aims to address different challenging tasks in computer vision and pattern recognition by casting the problems…