Related papers: Combining Local and Global Viewpoint Planning for …
The interest in 3D dynamical tracking is growing in fields such as robotics, biology and fluid dynamics. Recently, a major source of progress in 3D tracking has been the study of collective behaviour in biological systems, where the…
Incorporating multiple camera views for detection alleviates the impact of occlusions in crowded scenes. In a multiview system, we need to answer two important questions when dealing with ambiguities that arise from occlusions. First, how…
Robotic harvesting in dense crop canopies requires effective interventions that depend not only on geometry, but also on explicit, direction-conditioned relations identifying which organs obstruct a target fruit. We present SG-DOR (Scene…
Reliance on images for dietary assessment is an important strategy to accurately and conveniently monitor an individual's health, making it a vital mechanism in the prevention and care of chronic diseases and obesity. However, image-based…
In this work, we present a method for a probabilistic fusion of external depth and onboard proximity data to form a volumetric 3-D map of a robot's environment. We extend the Octomap framework to update a representation of the area around…
Simultaneous localization and mapping (SLAM) approaches for mobile robots remains challenging in forest or arboreal fruit farming environments, where tree canopies obstruct Global Navigation Satellite Systems (GNSS) signals. Unlike indoor…
This paper investigates coverage control for visual sensor networks based on gradient descent techniques on matrix manifolds. We consider the scenario that networked vision sensors with controllable orientations are distributed over 3-D…
Adverse weather conditions and occlusions in urban environments result in impaired perception. The uncertainties are handled in different modules of an automated vehicle, ranging from sensor level over situation prediction until motion…
We propose a method to optimally position a sensor system, which consists of multiple sensors, each has limited range and viewing angle, and they may fail with a certain failure rate. The goal is to find the optimal locations as well as the…
Robotic technology is increasingly considered the major mean for fruit picking. However, picking fruits in a dense cluster imposes a challenging research question in terms of motion/path planning as conventional planning approaches may not…
With the rapid development of drone technology, the application of drones equipped with visual sensors for building inspection and surveillance has attracted much attention. View planning aims to find a set of near-optimal viewpoints for…
Multi-view imaging systems enable uniform coverage of 3D space and reduce the impact of occlusion, which is beneficial for 3D object detection and tracking accuracy. However, existing imaging systems built with multi-view cameras or depth…
Camera viewpoint selection is an important aspect of visual grasp detection, especially in clutter where many occlusions are present. Where other approaches use a static camera position or fixed data collection routines, our Multi-View…
The need for fast, effective and accurate surveys have become increasingly necessary. A major part of the research is supported by photographic surveys which are used for capturing expansive natural surfaces using a wide range of sensors --…
Many automated manufacturing processes rely on industrial robot arms to move process-specific tools along workpiece surfaces. In applications like grinding, sanding, spray painting, or inspection, they need to cover a workpiece fully while…
In this work, we tackle the problem of learning universal robotic dexterous grasping from a point cloud observation under a table-top setting. The goal is to grasp and lift up objects in high-quality and diverse ways and generalize across…
Determining the position and orientation of a calibrated camera from a single image with respect to a 3D model is an essential task for many applications. When 2D-3D correspondences can be obtained reliably, perspective-n-point solvers can…
This work proposes a coverage controller that enables an aerial team of distributed autonomous agents to collaboratively generate non-myopic coverage plans over a rolling finite horizon, aiming to cover specific points on the surface area…
To fully understand the 3D context of a single image, a visual system must be able to segment both the visible and occluded regions of objects, while discerning their occlusion order. Ideally, the system should be able to handle any object…
With the proliferation of small aerial vehicles, acquiring close up aerial imagery for high quality reconstruction of complex scenes is gaining importance. We present an adaptive view planning method to collect such images in an automated…