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Autonomous vehicles demand high accuracy and robustness of perception algorithms. To develop efficient and scalable perception algorithms, the maximum information should be extracted from the available sensor data. In this work, we present…
Recently, large foundation models trained on vast datasets have demonstrated exceptional capabilities in feature extraction and general feature representation. The ongoing advancements in deep learning-driven large models have shown great…
Camera-based tactile sensors provide robots with a high-performance tactile sensing approach for environment perception and dexterous manipulation. However, achieving comprehensive environmental perception still requires cooperation with…
A large number of sensors deployed in recent years in various setups and their data is readily available in dedicated databases or in the cloud. Of particular interest is real-time data processing and 3D visualization in web-based user…
Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object, and environment that must be considered for fine…
Perceiving the surrounding environment in terms of objects is useful for any general purpose intelligent agent. In this paper, we investigate a fundamental mechanism making object perception possible, namely the identification of…
Dual energy computerized tomography has gained great interest because of its ability to characterize the chemical composition of a material rather than simply providing relative attenuation images as in conventional tomography. The purpose…
There is a growing need for soft robotic platforms that perform gentle, precise handling of a wide variety of objects. Existing surface-based manipulation systems, however, lack the compliance and tactile feedback needed for delicate…
Deepfake detection refers to detecting artificially generated or edited faces in images or videos, which plays an essential role in visual information security. Despite promising progress in recent years, Deepfake detection remains a…
This paper presents a CAD-based approach for automated surface defect detection. We leverage the a-priori knowledge embedded in a CAD model and integrate it with point cloud data acquired from commercially available stereo and depth…
Methods from computational topology are becoming more and more popular in computer vision and have shown to improve the state-of-the-art in several tasks. In this paper, we investigate the applicability of topological descriptors in the…
On construction sites, progress must be monitored continuously to ensure that the current state corresponds to the planned state in order to increase efficiency, safety and detect construction defects at an early stage. Autonomous mobile…
We present a fully-integrated sensing and control system which enables mobile manipulator robots to execute building tasks with millimeter-scale accuracy on building construction sites. The approach leverages multi-modal sensing…
In the aftermath of an earthquake, rapid structural inspections are required to get citizens back in to their homes and offices in a safe and timely manner. These inspections gfare typically conducted by municipal authorities through…
This paper presents visual and 3D structure inspection for steel structures and bridges using a developed climbing robot. The robot can move freely on a steel surface, carry sensors, collect data and then send to the ground station in real…
The vision-based semantic scene completion task aims to predict dense geometric and semantic 3D scene representations from 2D images. However, the presence of dynamic objects in the scene seriously affects the accuracy of the model…
Current visual foundation models are trained purely on unstructured 2D data, limiting their understanding of 3D structure of objects and scenes. In this work, we show that fine-tuning on 3D-aware data improves the quality of emerging…
Modern scene reconstruction methods are able to accurately recover 3D surfaces that are visible in one or more images. However, this leads to incomplete reconstructions, missing all occluded surfaces. While much progress has been made on…
Internal properties of a sample can be observed by medical imaging tools, such as ultrasound devices, magnetic resonance imaging (MRI) and optical coherence tomography (OCT) which are based on relying on changes in material density or…
Co-Salient Object Detection (CoSOD) aims at simulating the human visual system to discover the common and salient objects from a group of relevant images. Recent methods typically develop sophisticated deep learning based models have…