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Planning for robotic manipulation requires reasoning about the changes a robot can affect on objects. When such interactions can be modelled analytically, as in domains with rigid objects, efficient planning algorithms exist. However, in…

The aim of this article is to introduce a new methodology for constructing morphings between shapes that have identical topology. The morphings are obtained by deforming a reference shape, through the resolution of a sequence of linear…

Reconstructing the 3D shape of a deformable environment from the information captured by a moving depth camera is highly relevant to surgery. The underlying challenge is the fact that simultaneously estimating camera motion and tissue…

Most distortion correction methods focus on simple forms of distortion, such as radial or linear distortions. These works undistort images either based on measurements in the presence of a calibration grid, or use multiple views to find…

The accurate and robust calibration result of sensors is considered as an important building block to the follow-up research in the autonomous driving and robotics domain. The current works involving extrinsic calibration between 3D LiDARs…

The key factor in implementing machine learning algorithms in decision-making situations is not only the accuracy of the model but also its confidence level. The confidence level of a model in a classification problem is often given by the…

In this paper, optical target tracking, by regular target bearing measurements and target range in a lower and scheduled measurement rate is considered. Variance of the target range estimation error is used as scheduling criterion. For this…

Robotic manipulation of deformable objects is a difficult problem especially because of the complexity of the many different ways an object can deform. Searching such a high dimensional state space makes it difficult to recognize, track,…

Tracking by Deblatting stands for solving an inverse problem of deblurring and image matting for tracking motion-blurred objects. We propose non-causal Tracking by Deblatting which estimates continuous, complete and accurate object…

Robot manipulation, especially bimanual manipulation, often requires setting up multiple cameras on multiple robot manipulators. Before robot manipulators can generate motion or even build representations of their environments, the cameras…

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,…

Single-view depth estimation suffers from the problem that a network trained on images from one camera does not generalize to images taken with a different camera model. Thus, changing the camera model requires collecting an entirely new…

This paper introduces a novel approach to the fine alignment of images in a burst captured by a handheld camera. In contrast to traditional techniques that estimate two-dimensional transformations between frame pairs or rely on discrete…

We propose a novel measure for template matching named Deformable Diversity Similarity -- based on the diversity of feature matches between a target image window and the template. We rely on both local appearance and geometric information…

While both navigation and manipulation are challenging topics in isolation, many tasks require the ability to both navigate and manipulate in concert. To this end, we propose a mobile manipulation system that leverages novel navigation and…

We present a simple approach for sensor registration in target tracking applications. The proposed method uses targets of opportunity and, without making assumptions on their dynamical models, allows simultaneous calibration of multiple…

Accurate maps are a prerequisite for virtually all mobile robot tasks. Most state-of-the-art maps assume a static world; therefore, dynamic objects are filtered out of the measurements. However, this division ignores movable but non-moving…

The use of drones for aerial cinematography has revolutionized several applications and industries that require live and dynamic camera viewpoints such as entertainment, sports, and security. However, safely controlling a drone while…

Humans can robustly learn novel visual concepts even when images undergo various deformations and lose certain information. Mimicking the same behavior and synthesizing deformed instances of new concepts may help visual recognition systems…

The ability to record high-fidelity videos at high acquisition rates is central to the study of fast moving phenomena. The difficulty of imaging fast moving scenes lies in a trade-off between motion blur and underexposure noise: On the one…