Related papers: Estimating Target-Object Shape Using Location-Unkn…
This paper proposes a theoretical framework for estimating a target-object shape, the location of which is not given, by using mobile distance sensors the locations of which are also unknown. Typically, mobile sensors are mounted on…
By using directional distance sensors that have unknown locations, this paper proposes a method of estimating the shape of a location-unknown target object $T$ moving with unknown speed on an unknown straight line trajectory. Regardless of…
We geometrically analyze the problem of estimating parameters related to the shape and size of a two-dimensional target object on the plane by using randomly distributed distance sensors whose locations are unknown. Based on the analysis…
Efficient and accurate 3D object shape reconstruction contributes significantly to the success of a robot's physical interaction with its environment. Acquiring accurate shape information about unknown objects is challenging, especially in…
In this paper, we propose a radio-based passive target tracking algorithm using multipath measurements, including the angle of arrival and relative distance. We focus on a scenario in which a mobile receiver continuously receives radio…
This paper proposes fast and novel methods to jointly estimate the target's unknown 3D shape and dynamics. Measurements are noisy and sparsely distributed 3D points from a light detection and ranging (LiDAR) sensor. The methods utilize…
Vision-based estimation of the motion of a moving target is usually formulated as a bearing-only estimation problem where the visual measurement is modeled as a bearing vector. Although the bearing-only approach has been studied for…
A main challenge in target localization arises from the lack of reliable distance measures. This issue is especially pronounced in indoor settings due to the presence of walls, floors, furniture, and other dynamically changing conditions…
For robots to operate robustly in the real world, they should be aware of their uncertainty. However, most methods for object pose estimation return a single point estimate of the object's pose. In this work, we propose two learned methods…
Object Goal Navigation (ObjectNav) task is to navigate an agent to an object category in unseen environments without a pre-built map. In this paper, we solve this task by predicting the distance to the target using semantically-related…
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…
3D motion tracking is a critical task in many computer vision applications. Existing 3D motion tracking techniques require either a great amount of knowledge on the target object or specific hardware. These requirements discourage the wide…
We propose a general self-supervised learning approach for spatial perception tasks, such as estimating the pose of an object relative to the robot, from onboard sensor readings. The model is learned from training episodes, by relying on: a…
In this study, we investigate the problem of tracking objects with unknown shapes using three-dimensional (3D) point cloud data. We propose a Gaussian process-based model to jointly estimate object kinematics, including position,…
Most model-free visual object tracking methods formulate the tracking task as object location estimation given by a 2D segmentation or a bounding box in each video frame. We argue that this representation is limited and instead propose to…
Object pose estimation methods allow finding locations of objects in unstructured environments. This is a highly desired skill for autonomous robot manipulation as robots need to estimate the precise poses of the objects in order to…
Rigid body localization refers to a problem of estimating the position of a rigid body along with its orientation using anchors. We consider a setup in which a few sensors are mounted on a rigid body. The absolute position of the rigid body…
In this paper, we address the problem of detecting unseen objects from RGB images and estimating their poses in 3D. We propose two mobile friendly networks: MobilePose-Base and MobilePose-Shape. The former is used when there is only pose…
We propose a distributed positioning algorithm to estimate the unknown positions of a number of target nodes, given distance measurements between target nodes and between target nodes and a number of reference nodes at known positions.…
This paper investigates the problem of controlling an autonomous agent to simultaneously localize and circumnavigate an unknown stationary target using bearing-only measurements (without explicit differentiation). To improve the convergence…