Related papers: Pose Estimation for Ground Robots: On Manifold Rep…
Multi-modal fusion of sensors is a commonly used approach to enhance the performance of odometry estimation, which is also a fundamental module for mobile robots. However, the question of \textit{how to perform fusion among different…
Range-only (RO) localization involves determining the position of a mobile robot by measuring the distance to specific anchors. RO localization is challenging since the measurements are low-dimensional and a single range sensor does not…
In monocular 3D human pose estimation a common setup is to first detect 2D positions and then lift the detection into 3D coordinates. Many algorithms suffer from overfitting to camera positions in the training set. We propose a siamese…
Achieving safe quadrupedal locomotion in real-world environments has attracted much attention in recent years. When walking over uneven terrain, achieving reliable estimation and realising safety-critical control based on the obtained…
General robotic grippers are challenging to control because of their rich nonsmooth contact dynamics and the many sources of uncertainties due to the environment or sensor noise. In this work, we demonstrate how to compute 6-DoF grasp poses…
Continuum manipulators in flexible endoscopic surgical systems offer high dexterity for minimally invasive procedures; however, accurate pose estimation and closed-loop control remain challenging due to hysteresis, compliance, and limited…
This paper introduces an innovative state estimator, MUSE (MUlti-sensor State Estimator), designed to enhance state estimation's accuracy and real-time performance in quadruped robot navigation. The proposed state estimator builds upon our…
Accurate 6D object pose estimation is an important task for a variety of robotic applications such as grasping or localization. It is a challenging task due to object symmetries, clutter and occlusion, but it becomes more challenging when…
Radio-based methods such as Ultra-Wideband (UWB) and RAdio Detection And Ranging (radar), which have traditionally seen limited adoption in robotics, are experiencing a boost in popularity thanks to their robustness to harsh environmental…
We focus on the challenging problem of efficient mouse 3D pose estimation based on static images, and especially single depth images. We introduce an approach to discriminatively train the split nodes of trees in random forest to improve…
For a team of robots to work collaboratively, it is crucial that each robot have the ability to determine the position of their neighbors, relative to themselves, in order to execute tasks autonomously. This letter presents an algorithm for…
Reliable manipulation of previously unseen objects remains a fundamental challenge for autonomous robotic systems operating in unstructured environments. In particular, robust pick-and-place planning directly from noisy and only partial…
6D pose recognition has been a crucial factor in the success of robotic grasping, and recent deep learning based approaches have achieved remarkable results on benchmarks. However, their generalization capabilities in real-world…
Legged robots, specifically quadrupeds, are becoming increasingly attractive for industrial applications such as inspection. However, to leave the laboratory and to become useful to an end user requires reliability in harsh conditions. From…
Practical object pose estimation demands robustness against occlusions to the target object. State-of-the-art (SOTA) object pose estimators take a two-stage approach, where the first stage predicts 2D landmarks using a deep network and the…
Comprehending natural language instructions is a critical skill for robots to cooperate effectively with humans. In this paper, we aim to learn 6D poses for roboticassembly by natural language instructions. For this purpose,…
Accurate pose and velocity estimation is essential for effective spatial task planning in robotic manipulators. While centralized sensor fusion has traditionally been used to improve pose estimation accuracy, this paper presents a novel…
Line scanning cameras, which capture only a single line of pixels, have been increasingly used in ground based mobile or robotic platforms. In applications where it is advantageous to directly georeference the camera data to world…
Legged robot navigation in unstructured and slippery terrains depends heavily on the ability to accurately identify the quality of contact between the robot's feet and the ground. Contact state estimation is regarded as a challenging…
Algorithms for state estimation of humanoid robots usually assume that the feet remain flat and in a constant position while in contact with the ground. However, this hypothesis is easily violated while walking, especially for human-like…