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Platforms such as robots, security cameras, drones and satellites are used in multi-view imaging for three-dimensional (3D) recovery by stereoscopy or tomography. Each camera in the setup has a field of view (FOV). Multi-view analysis…
Neuromorphic vision sensors or event cameras have made the visual perception of extremely low reaction time possible, opening new avenues for high-dynamic robotics applications. These event cameras' output is dependent on both motion and…
Learning visuomotor control policies in robotic systems is a fundamental problem when aiming for long-term behavioral autonomy. Recent supervised-learning-based vision and motion perception systems, however, are often separately built with…
This paper studies the relative pose problem for autonomous vehicle driving in highly dynamic and possibly cluttered environments. This is a challenging scenario due to the existence of multiple, large, and independently moving objects in…
Automation of surgical tasks using cable-driven robots is challenging due to backlash, hysteresis, and cable tension, and these issues are exacerbated as surgical instruments must often be changed during an operation. In this work, we…
Machine perception is an important prerequisite for safe interaction and locomotion in dynamic environments. This requires not only the timely perception of surrounding geometries and distances but also the ability to react to changing…
Robot-assisted surgery has revolutionized the healthcare industry by providing surgeons with greater precision, reducing invasiveness, and improving patient outcomes. However, the success of these surgeries depends heavily on the robotic…
The introduction of surgical robots brought about advancements in surgical procedures. The applications of remote telesurgery range from building medical clinics in underprivileged areas, to placing robots abroad in military hot-spots where…
Misalignment between the camera frame and the operator frame is commonly seen in a teleoperated system and usually degrades the operation performance. The effects of such misalignment have not been fully investigated for eye-in-hand systems…
Traditional rigid endoscopes have challenges in flexibly treating tumors located deep in the brain, and low operability and fixed viewing angles limit its development. This study introduces a novel dual-segment flexible robotic endoscope…
Designing an efficient and resilient human-robot collaboration strategy that not only upholds the safety and ergonomics of shared workspace but also enhances the performance and agility of collaborative setup presents significant challenges…
Robotic arms are widely used in automatic industries. However, with wide applications of deep learning in robotic arms, there are new challenges such as the allocation of grasping computing power and the growing demand for security. In this…
The remarkable growth of unmanned aerial vehicles (UAVs) has also sparked concerns about safety measures during their missions. To advance towards safer autonomous aerial robots, this work presents a vision-based solution to ensuring safe…
A single nonholonomic under-actuated mobile robot with a bounded control range travels in a 3D workspace. This workspace also hosts a compact unknown domain with a smooth boundary. The robot has access to the horizontal distance to this…
Camera parameters not only play an important role in determining the visual quality of perceived images, but also affect the performance of vision algorithms, for a vision-guided robot. By quantitatively evaluating four object detection…
We can only allow human-robot-cooperation in a common work cell if the human integrity is guaranteed. A surveillance system with multiple cameras can detect collisions without contact to the human collaborator. A failure safe system needs…
Surgical robotics holds much promise for improving patient safety and clinician experience in the Operating Room (OR). However, it also comes with new challenges, requiring strong team coordination and effective OR management. Automatic…
Autonomous systems require a continuous and dependable environment perception for navigation and decision-making, which is best achieved by combining different sensor types. Radar continues to function robustly in compromised circumstances…
Humanoid robot technologies have demonstrated immense potential for minimally invasive surgery (MIS). Unlike dedicated multi-arm surgical platforms, the inherent dual-arm configuration of humanoid robots necessitates an efficient instrument…
Gaining spatial awareness of the Operating Room (OR) for surgical robotic systems is a key technology that can enable intelligent applications aiming at improved OR workflow. In this work, we present a method for semantic dense…