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In this paper, we propose an object-based camera pose estimation from a single RGB image and a pre-built map of objects, represented with ellipsoidal models. We show that contrary to point correspondences, the definition of a cost function…
Detection of pedestrians in aerial imagery captured by drones has many applications including intersection monitoring, patrolling, and surveillance, to name a few. However, the problem is involved due to continuouslychanging camera…
Rotational displacement about the grasping point is a common grasp failure when an object is grasped at a location away from its center of gravity. Tactile sensors with soft surfaces, such as GelSight sensors, can detect the rotation…
Realtime shape estimation of continuum objects and manipulators is essential for developing accurate planning and control paradigms. The existing methods that create dense point clouds from camera images, and/or use distinguishable markers…
In this paper, a novel image moments based model for shape estimation and tracking of an object moving with a complex trajectory is presented. The camera is assumed to be stationary looking at a moving object. Point features inside the…
Autonomous systems need to understand the semantics and geometry of their surroundings in order to comprehend and safely execute object-level task specifications. This paper proposes an expressive yet compact model for joint object pose and…
Vision sensors are extensively used for localizing a robot's pose, particularly in environments where global localization tools such as GPS or motion capture systems are unavailable. In many visual navigation systems, localization is…
The problem of fitting concentric ellipses is a vital problem in image processing, pattern recognition, and astronomy. Several methods have been developed but all address very special cases. In this paper, this problem has been investigated…
This paper presents a real-time solution for collision detection between objects based on the physics properties. Traditional approaches on collision detection often rely on the geometric relationships that computing the intersections…
Selection of appropriate template matching algorithms to run effectively on real-time low-cost systems is always major issue. This is due to unpredictable changes in image scene which often necessitate more sophisticated real-time…
Lidar sensors are widely used in various applications, ranging from scientific fields over industrial use to integration in consumer products. With an ever growing number of different driver assistance systems, they have been introduced to…
Background: Loop closure detection is a crucial part in robot navigation and simultaneous location and mapping (SLAM). Appearance-based loop closure detection still faces many challenges, such as illumination changes, perceptual aliasing…
We present a convolutional approach to reflection symmetry detection in 2D. Our model, built on the products of complex-valued wavelet convolutions, simplifies previous edge-based pairwise methods. Being parameter-centered, as opposed to…
In this work a system for recognizing grasp points in RGB-D images is proposed. This system is intended to be used by a domestic robot when deploying clothes lying at a random position on a table. By taking into consideration that the grasp…
Gaze and face tracking algorithms have traditionally battled a compromise between computational complexity and accuracy; the most accurate neural net algorithms cannot be implemented in real time, but less complex real-time algorithms…
The ever-increasing use of artificial intelligence in autonomous systems has significantly contributed to advance the research on multi-object tracking, adopted in several real-time applications (e.g., autonomous driving, surveillance…
For applications in navigation and robotics, estimating the 3D pose of objects is as important as detection. Many approaches to pose estimation rely on detecting or tracking parts or keypoints [11, 21]. In this paper we build on a recent…
Visible light positioning (VLP) technology is a promising technique as it can provide high accuracy positioning based on the existing lighting infrastructure. However, existing approaches often require dense lighting distributions.…
It is essential for a robot to be able to detect revisits or loop closures for long-term visual navigation.A key insight explored in this work is that the loop-closing event inherently occurs sparsely, that is, the image currently being…
Vision-based road detection is an essential functionality for supporting advanced driver assistance systems (ADAS) such as road following and vehicle and pedestrian detection. The major challenges of road detection are dealing with shadows…