Related papers: Probabilistic Radio-Visual Active Sensing for Sear…
Consider a target moving at a constant velocity on a unit-circumference circle, starting at an arbitrary location. To acquire the target, any region of the circle can be probed to obtain a noisy measurement of the target's presence, where…
This paper presents a vision-based sensing approach for a soft linear actuator, which is equipped with an integrated camera. The proposed vision-based sensing pipeline predicts the three-dimensional position of a point of interest on the…
Vision based localization is a popular approach to carry out manoeuvres particularly in GPS-restricted indoor environments, because vision can complement other activities performed by the robot. The objective is to estimate the current…
Model-based control is a popular paradigm for robot navigation because it can leverage a known dynamics model to efficiently plan robust robot trajectories. However, it is challenging to use model-based methods in settings where the…
Execution monitoring is essential for robots to detect and respond to failures. Since it is impossible to enumerate all failures for a given task, we learn from successful executions of the task to detect visual anomalies during runtime.…
Distance metric learning is an important component for many tasks, such as statistical classification and content-based image retrieval. Existing approaches for learning distance metrics from pairwise constraints typically suffer from two…
The speed of response by search and rescue teams at sea is of vital importance, as survival may depend on it. Recent technological advancements have led to the development of more efficient systems for locating individuals involved in a…
The problem of finding a next best viewpoint for 3D modeling or scene mapping has been explored in computer vision over the last decade. This paper tackles a similar problem, but with different characteristics. It proposes a method for…
In this work, we present several heuristic-based and data-driven active vision strategies for viewpoint optimization of an arm-mounted depth camera for the purpose of aiding robotic grasping. These strategies aim to efficiently collect data…
A new robust and accurate approach for the detection and localization of flying objects with the purpose of highly dynamic aerial interception and agile multi-robot interaction is presented in this paper. The approach is proposed for use on…
We introduce a prediction driven method for visual tracking and segmentation in videos. Instead of solely relying on matching with appearance cues for tracking, we build a predictive model which guides finding more accurate tracking regions…
In this paper, we give a double twist to the problem of planning under uncertainty. State-of-the-art planners seek to minimize the localization uncertainty by only considering the geometric structure of the scene. In this paper, we argue…
To determine the 3D orientation and 3D location of objects in the surroundings of a camera mounted on a robot or mobile device, we developed two powerful algorithms in object detection and temporal tracking that are combined seamlessly for…
The increasing need for automated visual monitoring and control for applications such as smart camera surveillance, traffic monitoring, and intelligent environments, necessitates the improvement of methods for visual active monitoring.…
This article presents a novel telepresence system for advancing aerial manipulation in dynamic and unstructured environments. The proposed system not only features a haptic device, but also a virtual reality (VR) interface that provides…
In this paper, we present a simple yet effective Boolean map based representation that exploits connectivity cues for visual tracking. We describe a target object with histogram of oriented gradients and raw color features, of which each…
Active perception describes a broad class of techniques that couple planning and perception systems to move the robot in a way to give the robot more information about the environment. In most robotic systems, perception is typically…
Inspired by the complementarity between conventional frame-based and bio-inspired event-based cameras, we propose a multi-modal based approach to fuse visual cues from the frame- and event-domain to enhance the single object tracking…
Autonomous vehicles are conceived to provide safe and secure services by validating the safety standards as indicated by SOTIF-ISO/PAS-21448 (Safety of the intended functionality). Keeping in this context, the perception of the environment…
In many sensing applications, typically radio signals are emitted by a radar and from the bounced reflections of the obstacles, inference about the environment is made. Even though radars can be used to sense the landscapes around the…