Related papers: Attention-based Active Visual Search for Mobile Ro…
Real-time detection of moving objects is an essential capability for robots acting autonomously in dynamic environments. We thus propose Dynablox, a novel online mapping-based approach for robust moving object detection in complex…
This work presents a novel active visuo-tactile based framework for robotic systems to accurately estimate pose of objects in dense cluttered environments. The scene representation is derived using a novel declutter graph (DG) which…
We address the problem of active visual exploration of large 360{\deg} inputs. In our setting an active agent with a limited camera bandwidth explores its 360{\deg} environment by changing its viewing direction at limited discrete time…
Mobile robots in unstructured, mapless environments must rely on an obstacle avoidance module to navigate safely. The standard avoidance techniques estimate the locations of obstacles with respect to the robot but are unaware of the…
When operating in unstructured environments such as warehouses, homes, and retail centers, robots are frequently required to interactively search for and retrieve specific objects from cluttered bins, shelves, or tables. Mechanical Search…
Search engines enable the retrieval of unknown information with texts. However, traditional methods fall short when it comes to understanding unfamiliar visual content, such as identifying an object that the model has never seen before.…
Visual navigation for autonomous agents is a core task in the fields of computer vision and robotics. Learning-based methods, such as deep reinforcement learning, have the potential to outperform the classical solutions developed for this…
Unlike Object Detection, Visual Grounding task necessitates the detection of an object described by complex free-form language. To simultaneously model such complex semantic and visual representations, recent state-of-the-art studies adopt…
We introduce an active 3D reconstruction method which integrates visual perception, robot-object interaction, and 3D scanning to recover both the exterior and interior, i.e., unexposed, geometries of a target 3D object. Unlike other works…
Efficient visual perception using mobile systems is crucial, particularly in unknown environments such as search and rescue operations, where swift and comprehensive perception of objects of interest is essential. In such real-world…
For mobile robots, navigating cluttered or dynamic environments often necessitates non-prehensile manipulation, particularly when faced with objects that are too large, irregular, or fragile to grasp. The unpredictable behavior and varying…
Robotic search of people in human-centered environments, including healthcare settings, is challenging as autonomous robots need to locate people without complete or any prior knowledge of their schedules, plans or locations. Furthermore,…
This paper presents a strategy to guide a mobile ground robot equipped with a camera or depth sensor, in order to autonomously map the visible part of a bounded three-dimensional structure. We describe motion planning algorithms that…
Manipulating unseen objects is challenging without a 3D representation, as objects generally have occluded surfaces. This requires physical interaction with objects to build their internal representations. This paper presents an approach…
Active learning aims to reduce labeling costs by selecting only the most informative samples on a dataset. Few existing works have addressed active learning for object detection. Most of these methods are based on multiple models or are…
Visual relationship detection aims to locate objects in images and recognize the relationships between objects. Traditional methods treat all observed relationships in an image equally, which causes a relatively poor performance in the…
In the realm of robot action recognition, identifying distinct but spatially proximate arm movements using vision systems in noisy environments poses a significant challenge. This paper studies robot arm action recognition in noisy…
In autonomous robot exploration tasks, a mobile robot needs to actively explore and map an unknown environment as fast as possible. Since the environment is being revealed during exploration, the robot needs to frequently re-plan its path…
Advanced Driver-Assistance Systems (ADAS) have been attracting attention from many researchers. Vision-based sensors are the closest way to emulate human driver visual behavior while driving. In this paper, we explore possible ways to use…
Detecting objects of interest, such as human survivors, safety equipment, and structure access points, is critical to any search-and-rescue operation. Robots deployed for such time-sensitive efforts rely on their onboard sensors to perform…