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Lidar-based sensing drives current autonomous vehicles. Despite rapid progress, current Lidar sensors still lag two decades behind traditional color cameras in terms of resolution and cost. For autonomous driving, this means that large…
This paper presents a novel automatic calibration system to estimate the extrinsic parameters of LiDAR mounted on a mobile platform for sensor misalignment inspection in the large-scale production of highly automated vehicles. To obtain…
Robust and accurate, map-based localization is crucial for autonomous mobile systems. In this paper, we exploit range images generated from 3D LiDAR scans to address the problem of localizing mobile robots or autonomous cars in a map of a…
Creating robots that can assist in farms and gardens can help reduce the mental and physical workload experienced by farm workers. We tackle the problem of object search in a farm environment, providing a method that allows a robot to…
This paper addresses the problem of reconstructing the surface shape of transparent objects. The difficulty of this problem originates from the viewpoint dependent appearance of a transparent object, which quickly makes reconstruction…
Layered materials (LMs) are at the centre of an ever increasing research effort due to their potential use in a variety of applications. The presence of imperfections, such as bi- or multilayer areas, holes, grain boundaries, isotropic and…
Majority of the perception methods in robotics require depth information provided by RGB-D cameras. However, standard 3D sensors fail to capture depth of transparent objects due to refraction and absorption of light. In this paper, we…
Traditional glass-based optics are typically optimized for narrow spectral bands, such as the visible (400-700nm) or shortwave infrared (1000-1800nm). While the emergence of VIS-SWIR sensors (400-1700nm) offers transformative potential,…
LiDAR (laser based radar) systems are a major part of many new real-world interactive systems, one of the most notable being autonomous cars. The current market LiDAR systems are limited by detector sensitivity: when output power is at…
Object tracking is an important step in robotics and reautonomous driving pipelines, which has to generalize to previously unseen and complex objects. Existing high-performing methods often rely on pre-captured object views to build…
We present an analytical description and an experimental realization of interscale mixing microscopy, a diffraction-based imaging technique that is capable of detecting wavelength/10 objects in far-field measurements with both coherent and…
We present the design, implementation, and evaluation of RF-Grasp, a robotic system that can grasp fully-occluded objects in unknown and unstructured environments. Unlike prior systems that are constrained by the line-of-sight perception of…
Laser triangulation sensors are widely used in industry for surface inspection due to simple setup, micron precision and low cost. Conventional laser triangulation methods only enable axial distance measurement limiting further…
The presence of any type of defect on the glass screen of smart devices has a great impact on their quality. We present a robust semi-supervised learning framework for intelligent micro-scaled localization and classification of defects on a…
Despite an emerging interest in MIMO radar, the utilization of its complementary strengths in combination with optical depth sensors has so far been limited to far-field applications, due to the challenges that arise from mutual sensor…
Traditional methods to achieve high localization accuracy with tactile sensors usually use a matrix of miniaturized individual sensors distributed on the area of interest. This approach usually comes at a price of increased complexity in…
Detecting small objects, such as drones, over long distances presents a significant challenge with broad implications for security, surveillance, environmental monitoring, and autonomous systems. Traditional imaging-based methods rely on…
LiDAR-based 3D object detection plays a crucial role in modern autonomous driving systems. LiDAR data often exhibit severe changes in properties across different observation ranges. In this paper, we explore cross-range adaptation for 3D…
Estimating and understanding the surroundings of the vehicle precisely forms the basic and crucial step for the autonomous vehicle. The perception system plays a significant role in providing an accurate interpretation of a vehicle's…
While an exciting diversity of new imaging devices is emerging that could dramatically improve robotic perception, the challenges of calibrating and interpreting these cameras have limited their uptake in the robotics community. In this…