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3D Visual Grounding (3DVG) aims to locate objects in 3D scenes based on text prompts, which is essential for applications such as robotics. However, existing 3DVG methods encounter two main challenges: first, they struggle to handle the…
In robot navigation and manipulation, accurately determining the camera's pose relative to the environment is crucial for effective task execution. In this paper, we systematically prove that this problem corresponds to the…
A guiding robot aims to effectively bring people to and from specific places within environments that are possibly unknown to them. During this operation the robot should be able to detect and track the accompanied person, trying never to…
In recent years, the numbers of life-size humanoids as well as their mobile capabilities have steadily grown. Stable walking motion and control for humanoid robots are active fields of research. In this scenario an open question is how to…
Dynamic grasping of moving objects in complex, continuous motion scenarios remains challenging. Reinforcement Learning (RL) has been applied in various robotic manipulation tasks, benefiting from its closed-loop property. However, existing…
Transparent objects are common in our daily life and frequently handled in the automated production line. Robust vision-based robotic grasping and manipulation for these objects would be beneficial for automation. However, the majority of…
A novel prize-winner algorithm designed for a path following problem within the Unmanned Aerial Vehicle (UAV) field is presented in this paper. The proposed approach exploits the advantages offered by the pure pursuing algorithm to set up…
In this work, we present a multimodal system for active robot-object interaction using laser-based SLAM, RGBD images, and contact sensors. In the object manipulation task, the robot adjusts its initial pose with respect to obstacles and…
In this paper, we first present a method to autonomously detect helipads in real time. Our method does not rely on any machine-learning methods and as such is applicable in real-time on the computational capabilities of an average…
Non-verbal communication is part of our regular conversation, and multiple gestures are used to exchange information. Among those gestures, pointing is the most important one. If such gestures cannot be perceived by other team members, e.g.…
High-precision tiny object alignment remains a common and critical challenge for humanoid robots in real-world. To address this problem, this paper proposes a vision-based framework for precisely estimating and controlling the relative…
In this work a system for recognizing grasp points in RGB-D images is proposed. This system is intended to be used by a domestic robot when deploying clothes lying at a random position on a table. By taking into consideration that the grasp…
Operating effectively in novel real-world environments requires robotic systems to estimate and interact with previously unseen objects. Current state-of-the-art models address this challenge by using large amounts of training data and…
Tactile perception is an essential ability of intelligent robots in interaction with their surrounding environments. This perception as an intermediate level acts between sensation and action and has to be defined properly to generate…
Recently, several works achieve end-to-end visual servoing (VS) for robotic manipulation by replacing traditional controller with differentiable neural networks, but lose the ability to servo arbitrary desired poses. This letter proposes a…
Detection of moving objects is an essential capability in dealing with dynamic environments. Most moving object detection algorithms have been designed for color images without depth. For robotic navigation where real-time RGB-D data is…
Visual navigation is essential for many applications in robotics, from manipulation, through mobile robotics to automated driving. Deep reinforcement learning (DRL) provides an elegant map-free approach integrating image processing,…
Current simultaneous localization and mapping (SLAM) algorithms perform well in static environments but easily fail in dynamic environments. Recent works introduce deep learning-based semantic information to SLAM systems to reduce the…
In this work, we propose a new head-tracking solution for human-machine real-time interaction with virtual 3D environments. This solution leverages RGBD data to compute virtual camera pose according to the movements of the user's head. The…
In warehouse environments, robots require robust picking capabilities to manage a wide variety of objects. Effective deployment demands minimal hardware, strong generalization to new products, and resilience in diverse settings. Current…