Related papers: Touch-based object localization in cluttered envir…
In this paper we present a novel approach to global localization using an RGB-D camera in maps of visual features. For large maps, the performance of pure image matching techniques decays in terms of robustness and computational cost.…
Robotic grasping is one of the most fundamental robotic manipulation tasks and has been actively studied. However, how to quickly teach a robot to grasp a novel target object in clutter remains challenging. This paper attempts to tackle the…
We provide a method for detecting and localizing objects near a robot arm using arm-mounted miniature time-of-flight sensors. A key challenge when using arm-mounted sensors is differentiating between the robot itself and external objects in…
As humans can explore and understand the world through active touch, similar capability is desired for robots. In this paper, we address the problem of active tactile object recognition, pose estimation and shape transfer learning, where a…
Tactile localization is the seemingly simple ability to 'tell' where a touch has occurred. However, how this ability is assessed, and what conclusions are drawn from experiments, depends on the theoretical ideas that inspire the research.…
This letter proposes a method of global localization on a map with semantic object landmarks. One of the most promising approaches for localization on object maps is to use semantic graph matching using landmark descriptors calculated from…
Deformable objects often appear in unstructured configurations. Tracing deformable objects helps bringing them into extended states and facilitating the downstream manipulation tasks. Due to the requirements for object-specific modeling or…
Dynamic hand tracking and gesture recognition is a hard task since there are many joints on the fingers and each joint owns many degrees of freedom. Besides, object occlusion is also a thorny issue in finger tracking and posture…
Humans in contrast to robots are excellent in performing fine manipulation tasks owing to their remarkable dexterity and sensorimotor organization. Enabling robots to acquire such capabilities, necessitates a framework that not only…
Robust tracking of a target in a clutter environment is an important and challenging task. In recent years, the nearest neighbor methods and probabilistic data association filters were proposed. However, the performance of these methods…
Object surface reconstruction brings essential benefits to robot grasping, object recognition, and object manipulation. When measuring the surface distribution of an unknown object by tapping, the greatest challenge is to select tapping…
Hands are the main medium when people interact with the world. Generating proper 3D motion for hand-object interaction is vital for applications such as virtual reality and robotics. Although grasp tracking or object manipulation synthesis…
This paper looks into the problem of grasping region localization along with suitable pose from a cluttered environment without any a priori knowledge of the object geometry. This end-to-end method detects the handles from a single frame of…
This paper presents planning algorithms for a robotic manipulator with a fixed base in order to grasp a target object in cluttered environments. We consider a configuration of objects in a confined space with a high density so no…
Selecting out-of-reach objects is a fundamental task in mixed reality (MR). Existing methods rely on a single cue or deterministically fuse multiple cues, leading to performance degradation when the dominant cue becomes unreliable. In this…
Contactless hand pose estimation requires sensors that provide precise spatial information and low computational complexity for real-time processing. Unlike vision-based systems, radar offers lighting independence and direct motion…
Controlling the shape of deformable linear objects using robots and constraints provided by environmental fixtures has diverse industrial applications. In order to establish robust contacts with these fixtures, accurate estimation of the…
Many manipulation tasks, such as placement or within-hand manipulation, require the object's pose relative to a robot hand. The task is difficult when the hand significantly occludes the object. It is especially hard for adaptive hands, for…
Region-based methods have become increasingly popular for model-based, monocular 3D tracking of texture-less objects in cluttered scenes. However, while they achieve state-of-the-art results, most methods are computationally expensive,…
Accurate information about the location and orientation of a camera in mobile devices is central to the utilization of location-based services (LBS). Most of such mobile devices rely on GPS data but this data is subject to inaccuracy due to…