Related papers: Active Vapor-Based Robotic Wiper
Wiping behavior is a task of tracing the surface of an object while feeling the force with the palm of the hand. It is necessary to adjust the force and posture appropriately considering the various contact conditions felt by the hand.…
Many adaptive optics systems operate by measuring the distortion of the wavefront in one wavelength range and performing the scientific observations in a second, different wavelength range. One common technique is to measure wavefront…
Computer vision techniques are on the rise for industrial applications, like process supervision and autonomous agents, e.g., in the healthcare domain and dangerous environments. While the general usability of these techniques is high,…
This paper proposes a method for estimating a surface that contains a given set of points from noisy measurements. More precisely, by assuming that the surface is described by the zero set of a function in the span of a given set of…
The accumulation of litter is increasing in many places and is consequently becoming a problem that must be dealt with. In this paper, we present a manipulator robotic system to collect litter in outdoor environments. This system has three…
We present a derivation for estimating the roll and pitch orientation of a partially calibrated camera mounted above a planar surface, using minimal scene information. Specifically, we assume known intrinsic parameters and a fixed height…
For window applications in hot climates, it is desirable to have windows with high visible transparency, while maintaining strong reflectance in both the ultraviolet and near infrared, to minimize unwanted heat gain. Given that more than…
Shape estimation for transparent objects is challenging due to their complex light transport. To circumvent these difficulties, we leverage the Shape from Polarization (SfP) technique in the Long-Wave Infrared (LWIR) spectrum, where most…
We propose the experimental scheme and present detailed theory of the optical chopper which functionality is based on the balance between the Casimir and light pressures. The proposed device consists of two atomically thin metallic mirrors…
In case of salient subject recognition, computer algorithms have been heavily relied on scanning of images from top-left to bottom-right systematically and apply brute-force when attempting to locate objects of interest. Thus, the process…
This work introduces a novel method for surface normal estimation from rectified stereo image pairs, leveraging affine transformations derived from disparity values to achieve fast and accurate results. We demonstrate how the rectification…
Object pose estimation of transparent objects remains a challenging task in the field of robot vision due to the immense influence of lighting, background, and reflections. However, the edges of clear objects have the highest contrast,…
This article presents a novel telepresence system for advancing aerial manipulation in dynamic and unstructured environments. The proposed system not only features a haptic device, but also a virtual reality (VR) interface that provides…
We present a method for estimating the shutter angle, a.k.a. exposure fraction - the ratio of the exposure time and the reciprocal of frame rate - of videoclips containing motion. The approach exploits the relation of the exposure fraction,…
Robot vision is greatly affected by occlusions, which poses challenges to autonomous systems. The robot itself may hide targets of interest from the camera, while it moves within the field of view, leading to failures in task execution. For…
In this paper, we propose a method to estimate the proximity of an acoustic reflector, e.g., a wall, using ego-noise, i.e., the noise produced by the moving parts of a listening robot. This is achieved by estimating the times of arrival of…
In this paper, we revisit computational methods to obtain an angular profile of optical scattering from a smooth surface, given a two-dimensional map of topographic height errors of the surface. Quick derivations of some traditional…
From the earth's crust to the human brain, remitted waves are used for sensing and imaging in a diverse range of diffusive media. Separating the source and detector increases the penetration depth of remitted light, yet rapidly decreases…
Virtual fixtures assist human operators in teleoperation settings by constraining their actions. This extended abstract introduces a novel virtual fixture formulation \emph{on surfaces} for tactile robotics tasks. Unlike existing methods,…
Soft robotic grippers facilitate contact-rich manipulation, including robust grasping of varied objects. Yet the beneficial compliance of a soft gripper also results in significant deformation that can make precision manipulation…