Related papers: Active Vapor-Based Robotic Wiper
We present a technique to optimize the reflectivity of a surface while preserving its overall shape. The naive optimization of the mesh vertices using the gradients of reflectivity simulations results in undesirable distortion. In contrast,…
Laboratory processes involving small volumes of solutions and active ingredients are often performed manually due to challenges in automation, such as high initial costs, semi-structured environments and protocol variability. In this work,…
We designed, fabricated, and characterized the properties of a silicon-based vacuum window suitable for millimeter-wave astrophysical applications. The window, which has a diameter of 124 mm, optically active diameter of 68 mm, and…
Computing visibility on a geometric object requires heavy computations since it requires to identify pairs of points that are visible to each other, i.e. there is a straight segment joining them that stays in the close vicinity of the…
We describe an experiment in which we have used a cold damping feedback mechanism to reduce the thermal noise of a mirror around its mechanical resonance frequency. The monitoring of the brownian motion of the mirror allows to apply an…
Transparent objects are a common part of everyday life, yet they possess unique visual properties that make them incredibly difficult for standard 3D sensors to produce accurate depth estimates for. In many cases, they often appear as noisy…
This work presents a camera model for refractive media such as water and its application in underwater visual-inertial odometry. The model is self-calibrating in real-time and is free of known correspondences or calibration targets. It is…
Our aim is to estimate the perspective-effected geometric distortion of a scene from a video feed. In contrast to all previous work we wish to achieve this using from low-level, spatio-temporally local motion features used in commercial…
Transparent objects are common in daily life, while their optical properties pose challenges for RGB-D cameras to capture accurate depth information. This issue is further amplified when these objects are hand-held, as hand occlusions…
Obstacle detection is one of the basic tasks of a robot movement in an unknown environment. The use of a LiDAR (Light Detection And Ranging) sensor allows one to obtain a point cloud in the vicinity of the sensor. After processing this…
Scaling general-purpose manipulation to new robot embodiments remains challenging: each platform typically needs large, homogeneous demonstrations, and end-to-end pixel-to-action pipelines may degenerate under background and viewpoint…
This paper develops a new vascular respiratory motion compensation algorithm, Motion-Related Compensation (MRC), to conduct vascular respiratory motion compensation by extrapolating the correlation between invisible vascular and visible…
Majority of the perception methods in robotics require depth information provided by RGB-D cameras. However, standard 3D sensors fail to capture depth of transparent objects due to refraction and absorption of light. In this paper, we…
Recording and identifying faint objects through atmospheric scattering media by an optical system are fundamentally interesting and technologically important. In this work, we introduce a comprehensive model that incorporates contributions…
Human-robot collaboration requires the contactless estimation of the physical properties of containers manipulated by a person, for example while pouring content in a cup or moving a food box. Acoustic and visual signals can be used to…
Endowing robots with tactile capabilities opens up new possibilities for their interaction with the environment, including the ability to handle fragile and/or soft objects. In this work, we equip the robot gripper with low-cost…
We explore a novel method to perceive and manipulate 3D articulated objects that generalizes to enable a robot to articulate unseen classes of objects. We propose a vision-based system that learns to predict the potential motions of the…
Many functional elements of human homes and workplaces consist of rigid components which are connected through one or more sliding or rotating linkages. Examples include doors and drawers of cabinets and appliances; laptops; and swivel…
Object detection on Unmanned Aerial Vehicles (UAVs) is still a challenging task. The recordings are mostly sparse and contain only small objects. In this work, we propose a simple tiling method that improves the detection capability in the…
High-reflectivity fused silica mirrors are at the epicentre of current advanced gravitational wave detectors. In these detectors, the mirrors interact with high power laser beams. As a result of finite absorption in the high reflectivity…