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Trust in digital systems depends on secure hardware, often assured through Hardware Reverse Engineering (HRE). This work develops methods for investigating human problem-solving processes in HRE, an underexplored yet critical aspect. Since…
We introduce an active 3D reconstruction method which integrates visual perception, robot-object interaction, and 3D scanning to recover both the exterior and interior, i.e., unexposed, geometries of a target 3D object. Unlike other works…
Network tomography means to estimate internal link states from end-to-end path measurements. In conventional network tomography, to make packets transmissively penetrate a network, a cooperation between transmitter and receiver nodes is…
Neural Radiance Fields (NeRF) and 3D Gaussian Splatting (3DGS) have emerged as powerful tools for 3D reconstruction and SLAM tasks. However, their performance depends heavily on accurate camera pose priors. Existing approaches attempt to…
Humans have exceptional tactile sensing capabilities, which they can leverage to solve challenging, partially observable tasks that cannot be solved from visual observation alone. Research in tactile sensing attempts to unlock this new…
Dense collections of movable objects are common in everyday spaces-from cabinets in a home to shelves in a warehouse. Safely retracting objects from such collections is difficult for robots, yet people do it frequently, leveraging learned…
The ability to estimate 3D movements of users over edge computing-enabled networks, such as 5G/6G networks, is a key enabler for the new era of extended reality (XR) and Metaverse applications. Recent advancements in deep learning have…
Plant health can be monitored dynamically using multispectral sensors that measure Near-Infrared reflectance (NIR). Despite this potential, obtaining and annotating high-resolution NIR images poses a significant challenge for training deep…
This paper presents a method to detect reflection of 3D light detection and ranging (Lidar) scans and uses it to classify the points and also map objects outside the line of sight. Our software uses several approaches to analyze the point…
Electromagnetic eavesdropping is a well-established attack vector for remotely monitoring a target activity, most notably displays, over considerable ranges. Other targets have been considered resistant to such attacks or do not exhibit…
Reactive trajectory optimization for robotics presents formidable challenges, demanding the rapid generation of purposeful robot motion in complex and swiftly changing dynamic environments. While much existing research predominantly…
Tracking the 6D pose of objects in video sequences is important for robot manipulation. This task, however, introduces multiple challenges: (i) robot manipulation involves significant occlusions; (ii) data and annotations are troublesome…
The endoscopic camera of a surgical robot provides surgeons with a magnified 3D view of the surgical field, but repositioning it increases mental workload and operation time. Poor camera placement contributes to safety-critical events when…
While depth cameras and inertial sensors have been frequently leveraged for human action recognition, these sensing modalities are impractical in many scenarios where cost or environmental constraints prohibit their use. As such, there has…
Wireless Sensor Networks (WSNs) often lack interfaces for remote debugging. Thus, fault diagnosis and troubleshooting are conducted at the deployment site. Currently, WSN operators lack dedicated tools that aid them in this process.…
We proposed a novel test-time optimisation (TTO) approach framed by a NeRF-based architecture for long-term 3D point tracking. Most current methods in point tracking struggle to obtain consistent motion or are limited to 2D motion. TTO…
The ability to accurately reconstruct the 3D facets of a scene is one of the key problems in robotic vision. However, even with recent advances with machine learning, there is no high-fidelity universal 3D reconstruction method for this…
We present a novel method of integrating image-based measurements into a drone navigation system for the automated inspection of wind turbines. We take a model-based tracking approach, where a 3D skeleton representation of the turbine is…
In the realm of robot action recognition, identifying distinct but spatially proximate arm movements using vision systems in noisy environments poses a significant challenge. This paper studies robot arm action recognition in noisy…
Many robotic tasks involving some form of 3D visual perception greatly benefit from a complete knowledge of the working environment. However, robots often have to tackle unstructured environments and their onboard visual sensors can only…