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Object detection has been used in a wide range of industries. For example, in autonomous driving, the task of object detection is to accurately and efficiently identify and locate a large number of predefined classes of object instances…
6-DoF grasp detection is critically important for the advancement of intelligent embodied systems, as it provides feasible robot poses for object grasping. Various methods have been proposed to detect 6-DoF grasps through the extraction of…
3D object detection and pose estimation has been studied extensively in recent decades for its potential applications in robotics. However, there still remains challenges when we aim at detecting multiple objects while retaining low false…
Embedded vision systems need efficient and robust image processing algorithms to perform real-time, with resource-constrained hardware. This research investigates image processing algorithms, specifically edge detection, corner detection,…
Robotic grasping is facing a variety of real-world uncertainties caused by non-static object states, unknown object properties, and cluttered object arrangements. The difficulty of grasping increases with the presence of more uncertainties,…
We propose a probabilistic filtering method which fuses joint measurements with depth images to yield a precise, real-time estimate of the end-effector pose in the camera frame. This avoids the need for frame transformations when using it…
Detecting edges is a fundamental problem in computer vision with many applications, some involving very noisy images. While most edge detection methods are fast, they perform well only on relatively clean images. Indeed, edges in such…
Most tracking-by-detection methods employ a local search window around the predicted object location in the current frame assuming the previous location is accurate, the trajectory is smooth, and the computational capacity permits a search…
Vision based object grasping and manipulation in robotics require accurate estimation of object's 6D pose. The 6D pose estimation has received significant attention in computer vision community and multiple datasets and evaluation metrics…
Autonomous driving systems are broadly used equipment in the industries and in our daily lives, they assist in production, but are majorly used for exploration in dangerous or unfamiliar locations. Thus, for a successful exploration,…
When determining the parameters of a parametric planar shape based on a single low-resolution image, common estimation paradigms lead to inaccurate parameter estimates. The reason behind poor estimation results is that standard estimation…
License plate detection and recognition (LPDR) is of growing importance for enabling intelligent transportation and ensuring the security and safety of the cities. However, LPDR faces a big challenge in a practical environment. The license…
Visual relocalization is crucial for autonomous visual localization and navigation of mobile robotics. Due to the improvement of CNN-based object detection algorithm, the robustness of visual relocalization is greatly enhanced especially in…
Accurate and robust global localization is essential to robotics applications. We propose a novel global localization method that employs the map traversability as a hidden observation. The resulting map-corrected odometry localization is…
Obstacle avoidance is a key feature for safe Unmanned Aerial Vehicle (UAV) navigation. While solutions have been proposed for static obstacle avoidance, systems enabling avoidance of dynamic objects, such as drones, are hard to implement…
Line segment extraction is effective for capturing geometric features of human-made environments. Event-based cameras, which asynchronously respond to contrast changes along edges, enable efficient extraction by reducing redundant data.…
Object detection for robot guidance is a crucial mission for autonomous robots, which has provoked extensive attention for researchers. However, the changing view of robot movement and limited available data hinder the research in this…
We present a continuous-time collision detection algorithm for quickly detecting whether certain polynomial trajectories in time intersect with convex obstacles. The algorithm is used in conjunction with an existing multicopter trajectory…
Aerators are essential and crucial auxiliary devices in intensive culture, especially in industrial culture in China. The traditional methods cannot accurately detect abnormal condition of aerators in time. Surveillance cameras are widely…
Relative vehicle positioning methods can contribute to safer and more efficient autonomous driving by enabling collision avoidance and platooning applications. For full automation, these applications require cm-level positioning accuracy…