Related papers: PERCH: Perception via Search for Multi-Object Reco…
Active perception describes a broad class of techniques that couple planning and perception systems to move the robot in a way to give the robot more information about the environment. In most robotic systems, perception is typically…
In this paper, we present a novel method for 3D geometric scene graph generation using range sensors and RGB cameras. We initially detect instance-wise keypoints with a YOLOv8s model to compute 6D pose estimates of known objects by solving…
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…
The quality of life of many people could be improved by autonomous humanoid robots in the home. To function in the human world, a humanoid household robot must be able to locate itself and perceive the environment like a human; scene…
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…
6D object pose estimation has been a research topic in the field of computer vision and robotics. Many modern world applications like robot grasping, manipulation, autonomous navigation etc, require the correct pose of objects present in a…
Just as humans can become disoriented in featureless deserts or thick fogs, not all environments are conducive to the Localization Accuracy and Stability (LAS) of autonomous robots. This paper introduces an efficient framework designed to…
Visual segmentation is a key perceptual function that partitions visual space and allows for detection, recognition and discrimination of objects in complex environments. The processes underlying human segmentation of natural images are…
In the past decade, although single-robot perception has made significant advancements, the exploration of multi-robot collaborative perception remains largely unexplored. This involves fusing compressed, intermittent, limited,…
The field of collaborative robotics and human-robot interaction often focuses on the prediction of human behaviour, while assuming the information about the robot setup and configuration being known. This is often the case with fixed…
Collaborative 3D object detection exploits information exchange among multiple agents to enhance accuracy of object detection in presence of sensor impairments such as occlusion. However, in practice, pose estimation errors due to imperfect…
In order to perform autonomous sequential manipulation tasks, perception in cluttered scenes remains a critical challenge for robots. In this paper, we propose a probabilistic approach for robust sequential scene estimation and manipulation…
Spatial reasoning from monocular images is essential for autonomous driving, yet current Vision-Language Models (VLMs) still struggle with fine-grained geometric perception, particularly under large scale variation and ambiguous object…
Identification and localization of sounds are both integral parts of computational auditory scene analysis. Although each can be solved separately, the goal of forming coherent auditory objects and achieving a comprehensive spatial scene…
Understanding 3D scenes goes beyond simply recognizing objects; it requires reasoning about the spatial and semantic relationships between them. Current 3D scene-language models often struggle with this relational understanding,…
We pose 3D scene-understanding as a problem of parsing in a grammar. A grammar helps us capture the compositional structure of real-word objects, e.g., a chair is composed of a seat, a back-rest and some legs. Having multiple rules for an…
Future autonomous systems promise significant societal benefits, yet their deployment raises concerns about safety and trustworthiness. A key concern is assuring the reliability of robot perception, as perception seeds safe decision-making.…
The availability of data is limited in some fields, especially for object detection tasks, where it is necessary to have correctly labeled bounding boxes around each object. A notable example of such data scarcity is found in the domain of…
This work proposes a process for efficiently training a point-wise object detector that enables localizing objects and computing their 6D poses in cluttered and occluded scenes. Accurate pose estimation is typically a requirement for robust…
The sonar images provide a rapid view of the seabed in order to characterize it. However, in such as uncertain environment, real seabed is unknown and the only information we can obtain, is the interpretation of different human experts,…