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Porous and heterogeneous materials are found in many applications from composites, membranes, chemical reactors, and other engineered materials to biological matter and natural subsurface structures. In this work we propose an integrated…
Manipulating deformable objects arises in daily life and numerous applications. Despite phenomenal advances in industrial robotics, manipulation of deformable objects remains mostly a manual task. This is because of the high number of…
An effective unsupervised hashing algorithm leads to compact binary codes preserving the neighborhood structure of data as much as possible. One of the most established schemes for unsupervised hashing is to reduce the dimensionality of…
Scalable 6D pose estimation for rigid objects from RGB images aims at handling multiple objects and generalizing to novel objects. Building on a well-known auto-encoding framework to cope with object symmetry and the lack of labeled…
A novel object detection method is presented that handles freely rotated objects of arbitrary sizes, including tiny objects as small as $2\times 2$ pixels. Such tiny objects appear frequently in remotely sensed images, and present a…
We develop new representations and algorithms for three-dimensional (3D) object detection and spatial layout prediction in cluttered indoor scenes. We first propose a clouds of oriented gradient (COG) descriptor that links the 2D appearance…
Object search -- the problem of finding a target object in a cluttered scene -- is essential to solve for many robotics applications in warehouse and household environments. However, cluttered environments entail that objects often occlude…
Coverage path planning is a fundamental challenge in robotics, with diverse applications in aerial surveillance, manufacturing, cleaning, inspection, agriculture, and more. The main objective is to devise a trajectory for an agent that…
Mobile robots navigating in indoor and outdoor environments must be able to identify and avoid unsafe terrain. Although a significant amount of work has been done on the detection of standing obstacles (solid obstructions), not much work…
Folding is emerging as a promising manufacturing process to transform flat materials into functional structures, offering efficiency by reducing the need for welding, gluing, and molding, while minimizing waste and enabling automation.…
Lagrangian coherent structures (LCS) in fluid flows appear as co-dimension one ridges of the finite time Lyapunov exponent (FTLE) field. In three- dimensions this means two-dimensional ridges. A fast algorithm is presented here to locate…
Many works in collaborative robotics and human-robot interaction focuses on identifying and predicting human behaviour while considering the information about the robot itself as given. This can be the case when sensors and the robot are…
LiDAR-based place recognition serves as a crucial enabler for long-term autonomy in robotics and autonomous driving systems. Yet, prevailing methodologies relying on handcrafted feature extraction face dual challenges: (1) Inconsistent…
Autonomous excavation for hard or compact materials, especially irregular rigid objects, is challenging due to high variance of geometric and physical properties of objects, and large resistive force during excavation. In this paper, we…
In the following paper we will discuss data structures suited for distance threshold queries keeping in mind real life application such as collision detection on robotic bees. We will focus on spatial hashes designed to store 3D points and…
Motion planning in modified environments is a challenging task, as it compounds the innate difficulty of the motion planning problem with a changing environment. This renders some algorithmic methods such as probabilistic roadmaps less…
Localization and Mapping is an essential component to enable Autonomous Vehicles navigation, and requires an accuracy exceeding that of commercial GPS-based systems. Current odometry and mapping algorithms are able to provide this accurate…
While general object recognition is still far from being solved, this paper proposes a way for a robot to recognize every object at an almost human-level accuracy. Our key observation is that many robots will stay in a relatively closed…
We study the problem of motion-planning for free-flying multi-link robots and develop a sampling-based algorithm that is specifically tailored for the task. Our work is based on the simple observation that the set of configurations for…
We present a method for 3D object detection and pose estimation from a single image. In contrast to current techniques that only regress the 3D orientation of an object, our method first regresses relatively stable 3D object properties…