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In this paper, we presented a new method for deformation control of deformable objects, which utilizes both visual and tactile feedback. At present, manipulation of deformable objects is basically formulated by assuming positional…
Medical image registration is a fundamental task in medical image analysis, aiming to establish spatial correspondences between paired images. However, existing unsupervised deformable registration methods rely solely on intensity-based…
In this paper, we propose a novel variational active contour model based on Aubert-Aujol (AA) denoising model, which hybrides geodesic active contour (GAC) model with active contours without edges (ACWE) model and can be used to segment…
Manipulating deformable objects is a ubiquitous task in household environments, demanding adequate representation and accurate dynamics prediction due to the objects' infinite degrees of freedom. This work proposes DeformNet, which utilizes…
Deformable object manipulation (DOM) with point clouds has great potential as non-rigid 3D shapes can be measured without detecting and tracking image features. However, robotic shape control of deformable objects with point clouds is…
Active sensing and planning in unknown, cluttered environments is an open challenge for robots intending to provide home service, search and rescue, narrow-passage inspection, and medical assistance. Although many active sensing methods…
Continuum robots offer high flexibility and multiple degrees of freedom, making them ideal for navigating narrow lumens. However, accurately modeling their behavior under large deformations and frequent environmental contacts remains…
We present a parametric deformable model which recovers image components with a complexity independent from the resolution of input images. The proposed model also automatically changes its topology and remains fully compatible with the…
We present a novel approach to detect, segment, and reconstruct complete textured 3D models of vehicles from a single image for autonomous driving. Our approach combines the strengths of deep learning and the elegance of traditional…
Topological alignments and snakes are used in image processing, particularly in locating object boundaries. Both of them have their own advantages and limitations. To improve the overall image boundary detection system, we focused on…
In this paper, we propose to combine formally noise and shape priors in region-based active contours. On the one hand, we use the general framework of exponential family as a prior model for noise. On the other hand, translation and scale…
Current Deep Learning methods for environment segmentation and velocity estimation rely on Convolutional Recurrent Neural Networks to exploit spatio-temporal relationships within obtained sensor data. These approaches derive scene dynamics…
Studying the manipulation of deformable linear objects has significant practical applications in industry, including car manufacturing, textile production, and electronics automation. However, deformable linear object manipulation poses a…
Drivable Free-space prediction is a fundamental and crucial problem in autonomous driving. Recent works have addressed the problem by representing the entire non-obstacle road regions as the free-space. In contrast our aim is to estimate…
Many edge and contour detection algorithms give a soft-value as an output and the final binary map is commonly obtained by applying an optimal threshold. In this paper, we propose a novel method to detect image contours from the extracted…
Deformable object manipulation (DOM) for robots has a wide range of applications in various fields such as industrial, service and health care sectors. However, compared to manipulation of rigid objects, DOM poses significant challenges for…
Continuum robots are typically slender and flexible with infinite freedoms in theory, which poses a challenge for their control and application. The shape sensing of continuum robots is vital to realise accuracy control. This letter…
This paper proposes a novel method for omnidirectional 360$\degree$ perception. Most common previous methods relied on equirectangular projection. This representation is easily applicable to 2D operation layers but introduces distortions…
Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object, and environment that must be considered for fine…
This work presents a novel active visuo-tactile based framework for robotic systems to accurately estimate pose of objects in dense cluttered environments. The scene representation is derived using a novel declutter graph (DG) which…