Related papers: 3D Move to See: Multi-perspective visual servoing …
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 investigates vision-based cooperative estimation of a 3D target object pose for visual sensor networks. In our previous works, we presented an estimation mechanism called networked visual motion observer achieving averaging of…
As capturing devices become common, 3D scans of interior spaces are acquired on a daily basis. Through scene comparison over time, information about objects in the scene and their changes is inferred. This information is important for…
Visual servoing, the method of controlling robot motion through feedback from visual sensors, has seen significant advancements with the integration of optical flow-based methods. However, its application remains limited by inherent…
Robotic research encounters a significant hurdle when it comes to the intricate task of grasping objects that come in various shapes, materials, and textures. Unlike many prior investigations that heavily leaned on specialized point-cloud…
The rapid advancement of Multimodal Large Language Models (MLLMs) has significantly impacted various multimodal tasks. However, these models face challenges in tasks that require spatial understanding within 3D environments. Efforts to…
Inspecting large-scale industrial surfaces like aircraft fuselages for quality control requires capturing their precise 3D surface geometry at high resolution. Vision-based tactile sensors (VBTSs) offer high local resolution but require…
Automated three-dimensional (3D) object reconstruction is the task of building a geometric representation of a physical object by means of sensing its surface. Even though new single view reconstruction techniques can predict the surface,…
Tactile and visual perception are both crucial for humans to perform fine-grained interactions with their environment. Developing similar multi-modal sensing capabilities for robots can significantly enhance and expand their manipulation…
Assistive robotic systems endeavour to support those with movement disabilities, enabling them to move again and regain functionality. Main issue with these systems is the complexity of their low-level control, and how to translate this to…
Recent advances in scene understanding have leveraged multimodal large language models (MLLMs) for 3D reasoning by capitalizing on their strong 2D pretraining. However, the lack of explicit 3D data during MLLM pretraining limits 3D…
In this paper, a novel approach is introduced which utilizes a Rapidly-exploring Random Graph to improve sampling-based autonomous exploration of unknown environments with unmanned ground vehicles compared to the current state of the art.…
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…
Perceiving the physical world in 3D is fundamental for self-driving applications. Although temporal motion is an invaluable resource to human vision for detection, tracking, and depth perception, such features have not been thoroughly…
To track the 3D locations and trajectories of the other traffic participants at any given time, modern autonomous vehicles are equipped with multiple cameras that cover the vehicle's full surroundings. Yet, camera-based 3D object tracking…
3D object detection from visual sensors is a cornerstone capability of robotic systems. State-of-the-art methods focus on reasoning and decoding object bounding boxes from multi-view camera input. In this work we gain intuition from the…
This paper introduces InverseMatrixVT3D, an efficient method for transforming multi-view image features into 3D feature volumes for 3D semantic occupancy prediction. Existing methods for constructing 3D volumes often rely on depth…
Exactly estimating and tracking the motion of surrounding dynamic objects is one of important tasks for the autonomy of a quadruped manipulator. However, with only an onboard RGB camera, it is still a challenging work for a quadruped…
Technology has made navigation in 3D real time possible and this has made possible what seemed impossible. This paper explores the aspect of deep visual odometry methods for mobile robots. Visual odometry has been instrumental in making…
Coordinating proximity and tactile imaging by collocating cameras with tactile sensors can 1) provide useful information before contact such as object pose estimates and visually servo a robot to a target with reduced occlusion and higher…