Related papers: Active Vapor-Based Robotic Wiper
Transparent objects are widely used in our daily lives, making it important to teach robots to interact with them. However, it's not easy because the reflective and refractive effects can make depth cameras fail to give accurate geometry…
Accurately measuring the geometry and spatially-varying reflectance of real-world objects is a complex task due to their intricate shapes formed by concave features, hollow engravings and diverse surfaces, resulting in inter-reflection and…
Transparent surfaces, such as glass, transmit most of the visible light that falls on them, making accurate pose estimation challenging. We propose a method to locate glass objects to millimetre accuracy using a simple Laser Range Finder…
Transparent objects are prevalent in everyday environments, but their distinct physical properties pose significant challenges for camera-guided robotic arms. Current research is mainly dependent on camera-only approaches, which often…
A smartphone camera can be used for measuring the width and distance of an object by taking its photograph. The focal length of the camera lens can be determined very accurately by finding the image width of an object on the camera sensor…
Reliable and exact assessment of visibility is essential for safe air traffic. In order to overcome the drawbacks of the currently subjective reports from human observers, we present an approach to automatically derive visibility measures…
Mobile robots operating indoors must be prepared to navigate challenging scenes that contain transparent surfaces. This paper proposes a novel method for the fusion of acoustic and visual sensing modalities through implicit neural…
Whiskers provide a way to sense surfaces in the immediate environment without disturbing it. In this paper we present a method for using highly flexible, curved, passive whiskers mounted along a robot arm to gather sensory data as they…
This paper addresses the problem of mirror surface reconstruction, and proposes a solution based on observing the reflections of a moving reference plane on the mirror surface. Unlike previous approaches which require tedious calibration,…
In an era where numerous studies claim to achieve almost photorealism with real-time automated environment capture, there is a need for assessments and reproducibility in this domain. This paper presents a transparent and reproducible user…
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.…
Light Detection and Ranging (LiDAR) technology has proven to be an important part of many robotics systems. Surface normals estimated from LiDAR data are commonly used for a variety of tasks in such systems. As most of the today's…
This paper presents a general refractive camera model and online co-estimation of odometry and the refractive index of unknown media. This enables operation in diverse and varying refractive fluids, given only the camera calibration in air.…
This paper proposes a fast and accurate surface normal estimation method which can be directly used on depth maps (organized point clouds). The surface normal estimation process is formulated as a closed-form expression. In order to reduce…
Autonomous aerial robots are increasingly being deployed in real-world scenarios, where transparent obstacles present significant challenges to reliable navigation and mapping. These materials pose a unique problem for traditional…
Consider the goal of visiting every part of a room that is not blocked by obstacles. Doing so efficiently requires both sensors and planning. Our findings suggest a method of inexpensive optical range finding for robotic room traversal. Our…
Despite the growing demand for accurate surface normal estimation models, existing methods use general-purpose dense prediction models, adopting the same inductive biases as other tasks. In this paper, we discuss the inductive biases needed…
Radiation pressure on a flat mirror submerged in a transparent liquid, depends not only on the refractive index n of the liquid, but also on the phase angle psi_0 of the Fresnel reflection coefficient of the mirror, which could be anywhere…
In this study, we present a non-contact respiratory anomaly detection method using incoherent light-wave signals reflected from the chest of a mechanical robot that can breathe like human beings. In comparison to existing radar and…
Sensing contact pressure applied by a gripper can benefit autonomous and teleoperated robotic manipulation, but adding tactile sensors to a gripper's surface can be difficult or impractical. If a gripper visibly deforms, contact pressure…