Related papers: Estimating Shape of Target Object Moving on Unknow…
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…
Robust object pose estimation is essential for manipulation and interaction tasks in robotics, particularly in scenarios where visual data is limited or sensitive to lighting, occlusions, and appearances. Tactile sensors often offer limited…
We provide methods which recover planar scene geometry by utilizing the transient histograms captured by a class of close-range time-of-flight (ToF) distance sensor. A transient histogram is a one dimensional temporal waveform which encodes…
Lane detection, the process of identifying lane markings as approximated curves, is widely used for lane departure warning and adaptive cruise control in autonomous vehicles. The popular pipeline that solves it in two steps -- feature…
Current methods to estimate object shape---using either vision or touch---generally depend on high-resolution sensing. Here, we exploit ergodic exploration to demonstrate successful shape estimation when using a low-resolution binary…
Orienting objects is a critical component in the automation of many packing and assembly tasks. We present an algorithm to orient novel objects given a depth image of the object in its current and desired orientation. We formulate a…
Three-dimensional shape sensing in soft and continuum robotics is a crucial aspect for stable actuation and control in fields such as Minimally Invasive surgery, as the estimation of complex curvatures while using continuum robotic tools is…
In sports, such as alpine skiing, coaches would like to know the speed and various biomechanical variables of their athletes and competitors. Existing methods use either body-worn sensors, which are cumbersome to setup, or manual image…
This paper describes a stereo image-based visual servoing system for trajectory tracking by a non-holonomic robot without externally derived pose information nor a known visual map of the environment. It is called trajectory servoing. The…
This paper uses clustering algorithms to introduce a shape framework for deformable objects. Until now, the shape detection of the deformable objects has faced several challenges: 1) unable to form a unified framework for multiple shapes;…
This paper proposes a coordinate-free controller to drive a mobile robot to encircle a target at unknown position by only using range measurements. Different from the existing works, a backstepping based controller is proposed to encircle…
We propose a method for sensor array self-localization using a set of sources at unknown locations. The sources produce signals whose times of arrival are registered at the sensors. We look at the general case where neither the emission…
Object location prior is critical for the standard 6D object pose estimation setting. The prior can be used to initialize the 3D object translation and facilitate 3D object rotation estimation. Unfortunately, the object detectors that are…
Sampling of physical fields with mobile sensors is an upcoming field of interest. This offers greater advantages in terms of cost as often just a single sensor can be used for the purpose and this can be employed almost everywhere without…
Tracking by Deblatting stands for solving an inverse problem of deblurring and image matting for tracking motion-blurred objects. We propose non-causal Tracking by Deblatting which estimates continuous, complete and accurate object…
Zero-shot object navigation (ZSON) addresses situation where an agent navigates to an unseen object that does not present in the training set. Previous works mainly train agent using seen objects with known labels, and ignore the seen…
Efficient ObjectGoal navigation (ObjectNav) in novel environments requires an understanding of the spatial and semantic regularities in environment layouts. In this work, we present a straightforward method for learning these regularities…
Uncertainty pervades through the modern robotic autonomy stack, with nearly every component (e.g., sensors, detection, classification, tracking, behavior prediction) producing continuous or discrete probabilistic distributions. Trajectory…
Grasping unknown objects has been an active research topic for decades. Approaches range from using various sensors (e.g. vision, tactile) to gain information about the object, to building passively compliant hands that react appropriately…
Tactile sensing provides a promising sensing modality for object pose estimation in manipulation settings where visual information is limited due to occlusion or environmental effects. However, efficiently leveraging tactile data for…