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Fish detection in water-land transfer has significantly contributed to the fishery. However, manual fish detection in crowd-collaboration performs inefficiently and expensively, involving insufficient accuracy. To further enhance the…
Generative modeling over discrete data has recently seen numerous success stories, with applications spanning language modeling, biological sequence design, and graph-structured molecular data. The predominant generative modeling paradigm…
Localization is a key challenge in many robotics applications. In this work we explore LIDAR-based global localization in both urban and natural environments and develop a method suitable for online application. Our approach leverages…
We address the visual relocalization problem of predicting the location and camera orientation or pose (6DOF) of the given input scene. We propose a method based on how humans determine their location using the visible landmarks. We define…
The emergence of deep neural networks capable of revealing high-fidelity scene details from sparse 3D point clouds has raised significant privacy concerns in visual localization involving private maps. Lifting map points to randomly…
We present an efficient algorithm for motion planning and control of a robot system with a high number of degrees-of-freedom. These include high-DOF soft robots or an articulated robot interacting with a deformable environment. Our approach…
Algorithms for motion planning in unknown environments are generally limited in their ability to reason about the structure of the unobserved environment. As such, current methods generally navigate unknown environments by relying on…
Recent sharpness-aware minimisation (SAM) is known to find flat minima which is beneficial for better generalisation with improved robustness. SAM essentially modifies the loss function by reporting the maximum loss value within the small…
Accurate and fast localization is vital for safe autonomous navigation in GPS-denied areas. Fine-Grained Cross-View Geolocalization (FG-CVG) aims to estimate the precise 2-Degree-of-Freedom (2-DoF) location of a ground image relative to a…
Visual localization under large changes in scale is an important capability in many robotic mapping applications, such as localizing at low altitudes in maps built at high altitudes, or performing loop closure over long distances. Existing…
Live fish recognition is one of the most crucial elements of fisheries survey applications where vast amount of data are rapidly acquired. Different from general scenarios, challenges to underwater image recognition are posted by poor image…
Various studies on perception-aware planning have been proposed to enhance the state estimation accuracy of quadrotors in visually degraded environments. However, many existing methods heavily rely on prior environmental knowledge and face…
Localization has been a challenging task for autonomous navigation. A loop detection algorithm must overcome environmental changes for the place recognition and re-localization of robots. Therefore, deep learning has been extensively…
The Bayesian decision-theoretic approach to design of experiments involves specifying a design (values of all controllable variables) to maximise the expected utility function (expectation with respect to the distribution of responses and…
We present an approach for safe motion planning under robot state and environment (obstacle and landmark location) uncertainties. To this end, we first develop an approach that accounts for the landmark uncertainties during robot…
Structured optical beams possess rich spatial features that are commonly characterized using entropic measures of field complexity. However, such measures do not directly quantify the operational usefulness of optical structure for…
In many applications, maintaining a consistent map of the environment is key to enabling robotic platforms to perform higher-level decision making. Detection of already visited locations is one of the primary ways in which map consistency…
This paper introduces a real-time algorithm for navigating complex unknown environments cluttered with movable obstacles. Our algorithm achieves fast, adaptable routing by actively attempting to manipulate obstacles during path planning and…
Registering point clouds of dressed humans to parametric human models is a challenging task in computer vision. Traditional approaches often rely on heavily engineered pipelines that require accurate manual initialization of human poses and…
Accurate localisation in planetary robotics enables the advanced autonomy required to support the increased scale and scope of future missions. The successes of the Ingenuity helicopter and multiple planetary orbiters lay the groundwork for…