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Existing computer vision and object detection methods strongly rely on neural networks and deep learning. This active research area is used for applications such as autonomous driving, aerial photography, protection, and monitoring.…
Navigating dynamic and unstructured environments poses significant challenges for autonomous robots, particularly due to the uncertainty introduced by occluded areas. Conventional sensing methods often fail to detect obstacles hidden behind…
Robotic grasp should be carried out in a real-time manner by proper accuracy. Perception is the first and significant step in this procedure. This paper proposes an improved pipeline model trying to detect grasp as a rectangle…
We present a real-time algorithm for emotion-aware navigation of a robot among pedestrians. Our approach estimates time-varying emotional behaviors of pedestrians from their faces and trajectories using a combination of Bayesian-inference,…
Visual localization and mapping is a crucial capability to address many challenges in mobile robotics. It constitutes a robust, accurate and cost-effective approach for local and global pose estimation within prior maps. Yet, in highly…
Robotic assistance presents an opportunity to benefit the lives of many people with physical disabilities, yet accurately sensing the human body and tracking human motion remain difficult for robots. We present a multidimensional capacitive…
Human-robot walking with prosthetic legs and exoskeletons, especially over complex terrains such as stairs, remains a significant challenge. Egocentric vision has the unique potential to detect the walking environment prior to physical…
As we move through the world, the pattern of light projected on our eyes is complex and dynamic, yet we are still able to distinguish between moving and stationary objects. We propose that humans accomplish this by exploiting constraints…
Telemanipulation of deformable objects requires high precision and dexterity from the users, which can be increased by kinesthetic and tactile feedback. However, the object shape can change dynamically, causing ambiguous perception of its…
Predicting human trajectories is a challenging task due to the complexity of pedestrian behavior, which is influenced by external factors such as the scene's topology and interactions with other pedestrians. A special challenge arises from…
Edge computing allows more computing tasks to take place on the decentralized nodes at the edge of networks. Today many delay sensitive, mission-critical applications can leverage these edge devices to reduce the time delay or even to…
The integration of Automated Delivery Robots (ADRs) into pedestrian-heavy urban spaces introduces unique challenges in terms of safe, efficient, and socially acceptable navigation. We develop the complete pipeline for a single vision sensor…
We present a novel object detection pipeline for localization and recognition in three dimensional environments. Our approach makes use of an RGB-D sensor and combines state-of-the-art techniques from the robotics and computer vision…
Advances in sensing and learning algorithms have led to increasingly mature solutions for human detection by robots, particularly in selected use-cases such as pedestrian detection for self-driving cars or close-range person detection in…
Reliable perception and efficient adaptation to novel conditions are priority skills for humanoids that function in dynamic environments. The vast advancements in latest computer vision research, brought by deep learning methods, are…
Wearable collaborative robots stand to assist human wearers who need fall prevention assistance or wear exoskeletons. Such a robot needs to be able to constantly adapt to the surrounding scene based on egocentric vision, and predict the ego…
Robot-assisted dressing offers an opportunity to benefit the lives of many people with disabilities, such as some older adults. However, robots currently lack common sense about the physical implications of their actions on people. The…
Obstacle Detection is a central problem for any robotic system, and critical for autonomous systems that travel at high speeds in unpredictable environment. This is often achieved through scene depth estimation, by various means. When fast…
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,…
Human motion prediction is essential for the safe and smooth operation of mobile service robots and intelligent vehicles around people. Commonly used neural network-based approaches often require large amounts of complete trajectories to…