Related papers: Mapping Walls of Indoor Environment using RGB-D Se…
In this paper we present a system that detects and tracks objects and agents, computes spatial relations, and communicates those relations to the user using speech. Our system is able to detect multiple objects and agents at 30 frames per…
In the field of Robot Learning, the complex mapping between high-dimensional observations such as RGB images and low-level robotic actions, two inherently very different spaces, constitutes a complex learning problem, especially with…
A popular and affordable option to provide room-scale human behaviour tracking is to rely on commodity RGB-D sensors %todo: such as the Kinect family of devices? as such devices offer body tracking capabilities at a reasonable price point.…
Chronic wound monitoring and management require accurate and efficient wound measurement methods. This paper presents a fast, non-invasive 3D wound measurement algorithm based on RGB-D imaging. The method combines RGB-D odometry with…
Visual localization for planar moving robot is important to various indoor service robotic applications. To handle the textureless areas and frequent human activities in indoor environments, a novel robust visual localization algorithm…
The representation of consistent mixed reality (XR) environments requires adequate real and virtual illumination composition in real-time. Estimating the lighting of a real scenario is still a challenge. Due to the ill-posed nature of the…
Positional estimation is of great importance in the public safety sector. Emergency responders such as fire fighters, medical rescue teams, and the police will all benefit from a resilient positioning system to deliver safe and effective…
In this work, we bridge the gap between recent pose estimation and tracking work to develop a powerful method for robots to track objects in their surroundings. Motion-Nets use a segmentation model to segment the scene, and separate…
We present a new public dataset with a focus on simulating robotic vision tasks in everyday indoor environments using real imagery. The dataset includes 20,000+ RGB-D images and 50,000+ 2D bounding boxes of object instances densely captured…
This paper focuses on a robotic picking tasks in cluttered scenario. Because of the diversity of objects and clutter by placing, it is much difficult to recognize and estimate their pose before grasping. Here, we use U-net, a special…
We propose a novel external indoor positioning system that computes the position and orientation of multiple model-scale vehicles. For this purpose, we use a camera mounted at a height of 3.3m and LEDs attached to each vehicle. We reach an…
We present a method to estimate lighting from a single image of an indoor scene. Previous work has used an environment map representation that does not account for the localized nature of indoor lighting. Instead, we represent lighting as a…
Safe and high-speed navigation is a key enabling capability for real world deployment of robotic systems. A significant limitation of existing approaches is the computational bottleneck associated with explicit mapping and the limited field…
We propose a novel approach to robot-operated active understanding of unknown indoor scenes, based on online RGBD reconstruction with semantic segmentation. In our method, the exploratory robot scanning is both driven by and targeting at…
In this paper, we present the development of a sensing system with the capability to compute multispectral point clouds in real-time. The proposed multi-eye sensor system effectively registers information from the visible, (long-wave)…
Room geometry inference (RGI) aims at estimating room shapes from measured room impulse responses (RIRs) and has received lots of attention for its importance in environment-aware audio rendering and virtual acoustic representation of a…
Contrasting to advances in street/outdoor navigation, wall mounted maps and signs continue to be the primary reference indoor navigation in hospitals, malls, museums, etc. The proliferation of mobile devices and the growing demand for…
Indoor positioning and navigation inside an area with no GPS-data availability is a challenging problem. There are applications such as augmented reality, autonomous driving, navigation of drones inside tunnels, in which indoor positioning…
We present a data-driven approach that colorizes 3D furniture models and indoor scenes by leveraging indoor images on the internet. Our approach is able to colorize the furniture automatically according to an example image. The core is to…
This paper uses robots to assemble pegs into holes on surfaces with different colors and textures. It especially targets at the problem of peg-in-hole assembly with initial position uncertainty. Two in-hand cameras and a force-torque sensor…