Related papers: Multi-Sensor Next-Best-View Planning as Matroid-Co…
We study the problem of multi-robot active mapping, which aims for complete scene map construction in minimum time steps. The key to this problem lies in the goal position estimation to enable more efficient robot movements. Previous…
Surveying 3D scenes is a common task in robotics. Systems can do so autonomously by iteratively obtaining measurements. This process of planning observations to improve the model of a scene is called Next Best View (NBV) planning. NBV…
Multi-View Photometric Stereo (MVPS) is a popular method for fine-detailed 3D acquisition of an object from images. Despite its outstanding results on diverse material objects, a typical MVPS experimental setup requires a well-calibrated…
Completely capturing the three-dimensional (3D) data of an object is essential in industrial and robotic applications. The task of next-best-view (NBV) planning is to calculate the next optimal viewpoint based on the current data, gradually…
Recently, multi-sensors fusion has achieved significant progress in the field of automobility to improve navigation and position performance. As the prerequisite of the fusion algorithm, the demand for the extrinsic calibration of…
We address the problem of localizing multiple sources in 3D by combining sensor array measurements with camera observations. We propose a fusion framework extending the covariance matrix fitting method with an unbalanced optimal transport…
An important open problem in robotic planning is the autonomous generation of 3D inspection paths -- that is, planning the best path to move a robot along in order to inspect a target structure. We recently suggested a new method for…
High-definition (HD) semantic map generation of the environment is an essential component of autonomous driving. Existing methods have achieved good performance in this task by fusing different sensor modalities, such as LiDAR and camera.…
The paper proposes a reliable and robust planning solution to the long range robotic navigation problem in extremely cluttered environments. A two-layer planning architecture is proposed that leverages both the environment map and the…
In some scenarios, a single input image may not be enough to allow the object classification. In those cases, it is crucial to explore the complementary information extracted from images presenting the same object from multiple perspectives…
Effective sensor scheduling requires the consideration of long-term effects and thus optimization over long time horizons. Determining the optimal sensor schedule, however, is equivalent to solving a binary integer program, which is…
Both, robot and hand-eye calibration haven been object to research for decades. While current approaches manage to precisely and robustly identify the parameters of a robot's kinematic model, they still rely on external devices, such as…
The problem of gas detection is relevant to many real-world applications, such as leak detection in industrial settings and landfill monitoring. Using mobile robots for gas detection has several advantages and can reduce danger for humans.…
Seamless Human-Robot Interaction is the ultimate goal of developing service robotic systems. For this, the robotic agents have to understand their surroundings to better complete a given task. Semantic scene understanding allows a robotic…
In this work, we propose a novel approach to prioritize the depth map computation of multi-view stereo (MVS) to obtain compact 3D point clouds of high quality and completeness at low computational cost. Our prioritization approach operates…
We introduce an improved solution to the neural image-based rendering problem in computer vision. Given a set of images taken from a freely moving camera at train time, the proposed approach could synthesize a realistic image of the scene…
Camera and radar sensors have significant advantages in cost, reliability, and maintenance compared to LiDAR. Existing fusion methods often fuse the outputs of single modalities at the result-level, called the late fusion strategy. This can…
Quality control is a critical aspect of manufacturing, particularly in ensuring the proper assembly of small components in production lines. Existing solutions often rely on single-view imaging or manual inspection, which are prone to…
We propose DeepMultiCap, a novel method for multi-person performance capture using sparse multi-view cameras. Our method can capture time varying surface details without the need of using pre-scanned template models. To tackle with the…
Current perception systems often carry multimodal imagers and sensors such as 2D cameras and 3D LiDAR sensors. To fuse and utilize the data for downstream perception tasks, robust and accurate calibration of the multimodal sensor data is…