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Imitation Learning can train robots to perform complex and diverse manipulation tasks, but learned policies are brittle with observations outside of the training distribution. 3D scene representations that incorporate observations from…
3D nano-printing through two-photon polymerization enables monolithic manufacturing of mechanical and freeform micro-optical elements with high inherent alignment accuracy. However, viscoelasticity and temperature-dependent stiffness of the…
Detection of surgical instruments plays a key role in ensuring patient safety in minimally invasive surgery. In this paper, we present a novel method for 2D vision-based recognition and pose estimation of surgical instruments that…
In this paper, the programmable signal propagation paradigm, enabled by Reconfigurable Intelligent Surfaces (RISs), is exploited for high accuracy $3$-Dimensional (3D) user localization with a single multi-antenna base station. Capitalizing…
Accurate and real-time sensing of targets in three-dimensional (3D) environments is essential for modern machine vision, underpinning emerging technologies such as autonomous systems, robotic manipulation, augmented reality, and intelligent…
Augmented Reality (AR) applications necessitates methods of inserting needed objects into scenes captured by cameras in a way that is coherent with the surroundings. Common AR applications require the insertion of predefined 3D objects with…
This paper addresses the problem of 3D human pose estimation from single images. While for a long time human skeletons were parameterized and fitted to the observation by satisfying a reprojection error, nowadays researchers directly use…
Minimally invasive surgery (MIS) offers significant benefits such as reduced recovery time and minimised patient trauma, but poses challenges in visibility and access, making accurate 3D reconstruction a significant tool in surgical…
Perceiving humans in the context of Intelligent Transportation Systems (ITS) often relies on multiple cameras or expensive LiDAR sensors. In this work, we present a new cost-effective vision-based method that perceives humans' locations in…
When imaging through a semi-reflective medium such as glass, the reflection of another scene can often be found in the captured images. It degrades the quality of the images and affects their subsequent analyses. In this paper, a novel deep…
We present HOReeNet, which tackles the novel task of manipulating images involving hands, objects, and their interactions. Especially, we are interested in transferring objects of source images to target images and manipulating 3D hand…
Vehicle detection is a significant and challenging task in aerial remote sensing applications. Most existing methods detect vehicles with regular rectangle boxes and fail to offer the orientation of vehicles. However, the orientation…
Recent advancements in 3D robotic manipulation have improved grasping of everyday objects, but transparent and specular materials remain challenging due to depth sensing limitations. While several 3D reconstruction and depth completion…
We introduce a novel approach that combines tactile estimation and control for in-hand object manipulation. By integrating measurements from robot kinematics and an image-based tactile sensor, our framework estimates and tracks object pose…
Robotic systems often require precise scene analysis capabilities, especially in unstructured, cluttered situations, as occurring in human-made environments. While current deep-learning based methods yield good estimates of object poses,…
Our work aims to reconstruct hand-held objects given a single RGB image. In contrast to prior works that typically assume known 3D templates and reduce the problem to 3D pose estimation, our work reconstructs generic hand-held object…
An inverse source reconstruction (ISR) based 3-D near-field (NF) passive radar microwave imaging method utilizing modulated signals is presented. The modulated signals from a non-cooperative transmitter are scattered by the targets of…
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…
Inertial localisation is an important technique as it enables ego-motion estimation in conditions where external observers are unavailable. However, low-cost inertial sensors are inherently corrupted by bias and noise, which lead to unbound…
This paper addresses the trajectory tracking problem of an autonomous tractor-trailer system by using a decentralized control approach. A fully decentralized model predictive controller is designed in which interactions between subsystems…