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Recent advancements in trajectory-guided video generation have achieved notable progress. However, existing models still face challenges in generating object motions with potentially changing 6D poses under wide-range rotations, due to…
Real-time efficient perception is critical for autonomous navigation and city scale sensing. Orthogonal to architectural improvements, streaming perception approaches have exploited adaptive sampling improving real-time detection…
This paper focuses on a novel approach for detecting moving objects during camera motion. We present an optical-flow-based transformation that yields a consistent 2D invariant image output regardless of time instants, range of points in 3D,…
A novel concept of vision-based intelligent control of robotic arms is developed here in this work. This work enables the controlling of robotic arms motion only with visual inputs, that is, controlling by showing the videos of correct…
Using a deformable sheet to handle objects is convenient and found in many practical applications. For object manipulation through a deformable sheet that is held by multiple mobile robots, it is a challenging task to model the object-sheet…
We present UniPlane, a novel method that unifies plane detection and reconstruction from posed monocular videos. Unlike existing methods that detect planes from local observations and associate them across the video for the final…
Camera relocalisation is an important problem in computer vision, with applications in simultaneous localisation and mapping, virtual/augmented reality and navigation. Common techniques either match the current image against keyframes with…
A physical selfie stick extends the user's reach, enabling the acquisition of personal photos that include more of the background scene. Similarly, a quadcopter can capture photos from vantage points unattainable by the user; but…
We introduce PartSTAD, a method designed for the task adaptation of 2D-to-3D segmentation lifting. Recent studies have highlighted the advantages of utilizing 2D segmentation models to achieve high-quality 3D segmentation through few-shot…
Training a robotic arm to accomplish real-world tasks has been attracting increasing attention in both academia and industry. This work discusses the role of computer vision algorithms in this field. We focus on low-cost arms on which no…
The main motivation of this work is to propose a simulation approach for a specific task within the Unmanned Aerial Vehicle (UAV) field, i.e., the visual detection and tracking of arbitrary moving objects. In particular, it is described…
Seamless human-robot manipulation in close proximity relies on accurate forecasts of human motion. While there has been significant progress in learning forecast models at scale, when applied to manipulation tasks, these models accrue high…
Robotic three-dimensional (3D) ultrasound (US) imaging has been employed to overcome the drawbacks of traditional US examinations, such as high inter-operator variability and lack of repeatability. However, object movement remains a…
Technologies to enable safe and effective collaboration and coexistence between humans and robots have gained significant importance in the last few years. A critical component useful for realizing this collaborative paradigm is the…
This paper presents the design and integration of 3 Survivor, a rough terrain negotiable teleoperated mobile rescue and service robot. 3 Survivor is an improved version of two previously studied surveillance robots named Sigma 3 and Alpha…
Catching high-speed targets in the flight is a complex and typical highly dynamic task. In this paper, we propose Catch Planner, a planning-with-decision scheme for catching. For sequential decision making, we propose a policy search method…
Selection is one of the fundamental user interactions in virtual reality (VR) and 3D user interaction, and raycasting has been one of the most popular object selection techniques in VR. However, the selection of small or distant objects…
Object pose tracking is a fundamental and essential task for robotics to perform tasks in the home and industrial settings. The most commonly used sensors to do so are RGB-D cameras, which can hit limitations in highly dynamic environments…
This paper introduces a novel approach for the grasping and precise placement of various known rigid objects using multiple grippers within highly cluttered scenes. Using a single depth image of the scene, our method estimates multiple 6D…
Kinodynamic motion planners allow robots to perform complex manipulation tasks under dynamics constraints or with black-box models. However, they struggle to find high-quality solutions, especially when a steering function is unavailable.…