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Autonomous exploration of unknown space is an essential component for the deployment of mobile robots in the real world. Safe navigation is crucial for all robotics applications and requires accurate and consistent maps of the robot's…
The 3D reconstruction of simultaneous localization and mapping (SLAM) is an important topic in the field for transport systems such as drones, service robots and mobile AR/VR devices. Compared to a point cloud representation, the 3D…
This paper presents an approach to teleoperate a manipulator using a mobile phone as a leader device. Using its IMU and camera, the phone estimates its Cartesian pose which is then used to to control the Cartesian pose of the robot's tool.…
This paper presents a novel dataset for the development of visual navigation and simultaneous localisation and mapping (SLAM) algorithms as well as for underwater intervention tasks. It differs from existing datasets as it contains ground…
In the context of robotic underwater operations, the visual degradations induced by the medium properties make difficult the exclusive use of cameras for localization purpose. Hence, most localization methods are based on expensive…
Robotic manipulation is essential for the widespread adoption of robots in industrial and home settings and has long been a focus within the robotics community. Advances in artificial intelligence have introduced promising learning-based…
Teleoperation of humanoid robots has long been a challenging domain, necessitating advances in both hardware and software to achieve seamless and intuitive control. This paper presents an integrated solution based on several elements:…
This paper introduces an emerging motion planning problem by considering a human that is immersed into the viewing perspective of a remote robot. The challenge is to make the experience both effective (such as delivering a sense of…
Surround-view perception is increasingly important for robotic navigation and loco-manipulation, especially in human-in-the-loop settings such as teleoperation, data collection, and emergency takeover. However, current robotic visual…
We consider the task of underwater robot navigation for the purpose of collecting scientifically relevant video data for environmental monitoring. The majority of field robots that currently perform monitoring tasks in unstructured natural…
Gaining spatial awareness of the Operating Room (OR) for surgical robotic systems is a key technology that can enable intelligent applications aiming at improved OR workflow. In this work, we present a method for semantic dense…
Robust and fast motion estimation and mapping is a key prerequisite for autonomous operation of mobile robots. The goal of performing this task solely on a stereo pair of video cameras is highly demanding and bears conflicting objectives:…
Caregiving of older adults is an urgent global challenge, with many older adults preferring to age in place rather than enter residential care. However, providing adequate home-based assistance remains difficult, particularly in…
The integration of neural rendering and the SLAM system recently showed promising results in joint localization and photorealistic view reconstruction. However, existing methods, fully relying on implicit representations, are so…
To be useful in everyday environments, robots must be able to identify and locate real-world objects. In recent years, video object segmentation has made significant progress on densely separating such objects from background in real and…
The machine vision systems have been playing a significant role in visual monitoring systems. With the help of stereovision and machine learning, it will be able to mimic human-like visual system and behaviour towards the environment. In…
The assumption of scene rigidity is common in visual SLAM algorithms. However, it limits their applicability in populated real-world environments. Furthermore, most scenarios including autonomous driving, multi-robot collaboration and…
Robotics simulation has been an integral part of research and development in the robotics area. The simulation eliminates the possibility of harm to sensors, motors, and the physical structure of a real robot by enabling robotics…
Contact-rich manipulation is difficult for robots to execute and requires accurate perception of the environment. In some scenarios, vision is occluded. The robot can then no longer obtain real-time scene state information through visual…
We present a novel learning-based collision avoidance algorithm, CrowdSteer, for mobile robots operating in dense and crowded environments. Our approach is end-to-end and uses multiple perception sensors such as a 2-D lidar along with a…