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The assembly of printed circuit boards (PCBs) is one of the standard processes in chip production, directly contributing to the quality and performance of the chips. In the automated PCB assembly process, machine vision and coordinate…
Placing objects is a fundamental task for domestic service robots (DSRs). Thus, inferring the collision-risk before a placing motion is crucial for achieving the requested task. This problem is particularly challenging because it is…
Learning contact-rich, robotic manipulation skills is a challenging problem due to the high-dimensionality of the state and action space as well as uncertainty from noisy sensors and inaccurate motor control. To combat these factors and…
Catching objects in-flight is an outstanding challenge in robotics. In this paper, we present a closed-loop control system fusing data from two sensor modalities: an RGB-D camera and a radar. To develop and test our method, we start with an…
In this paper, we introduce a new problem of manipulating a given video by inserting other videos into it. Our main task is, given an object video and a scene video, to insert the object video at a user-specified location in the scene video…
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 propose a novel feed-forward network for video inpainting. We use a set of sampled video frames as the reference to take visible contents to fill the hole of a target frame. Our video inpainting network consists of two stages. The first…
This manuscript investigates the integration of positional encoding -- a technique widely used in computer graphics -- into the input vector of a binary classification model for self-collision detection. The results demonstrate the benefits…
This paper focuses on vision-based pose estimation for multiple rigid objects placed in clutter, especially in cases involving occlusions and objects resting on each other. Progress has been achieved recently in object recognition given…
Place classification is a fundamental ability that a robot should possess to carry out effective human-robot interactions. It is a nontrivial classification problem which has attracted many research. In recent years, there is a high…
We present a novel deep learning based algorithm for video inpainting. Video inpainting is a process of completing corrupted or missing regions in videos. Video inpainting has additional challenges compared to image inpainting due to the…
Vision-based pose estimation of articulated robots with unknown joint angles has applications in collaborative robotics and human-robot interaction tasks. Current frameworks use neural network encoders to extract image features and…
Efficiently detecting target weld seams while ensuring sub-millimeter accuracy has always been an important challenge in autonomous welding, which has significant application in industrial practice. Previous works mostly focused on…
Human pose estimation (i.e., locating the body parts / joints of a person) is a fundamental problem in human-computer interaction and multimedia applications. Significant progress has been made based on the development of depth sensors,…
For certain manipulation tasks, object pose estimation from head-mounted cameras may not be sufficiently accurate. This is at least in part due to our inability to perfectly calibrate the coordinate frames of today's high degree of freedom…
Recording surgery in operating rooms is an essential task for education and evaluation of medical treatment. However, recording the desired targets, such as the surgery field, surgical tools, or doctor's hands, is difficult because the…
The motivation of this paper is to develop a smart system using multi-modal vision for next-generation mechanical assembly. It includes two phases where in the first phase human beings teach the assembly structure to a robot and in the…
Accurate depth estimation remains an open problem for robotic manipulation; even state of the art techniques including structured light and LiDAR sensors fail on reflective or transparent surfaces. We address this problem by training a…
Database indexes facilitate data retrieval and benefit broad applications in real-world systems. Recently, a new family of index, named learned index, is proposed to learn hidden yet useful data distribution and incorporate such information…
Pan-sharpening, as one of the most commonly used techniques in remote sensing systems, aims to inject spatial details from panchromatic images into multispectral images (MS) to obtain high-resolution multispectral images. Since deep…