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This work presents a novel RGB-D-inertial dynamic SLAM method that can enable accurate localisation when the majority of the camera view is occluded by multiple dynamic objects over a long period of time. Most dynamic SLAM approaches either…
In vision-based robot manipulation, a single camera view can only capture one side of objects of interest, with additional occlusions in cluttered scenes further restricting visibility. As a result, the observed geometry is incomplete, and…
We propose an approach to estimate 3D human pose in real world units from a single RGBD image and show that it exceeds performance of monocular 3D pose estimation approaches from color as well as pose estimation exclusively from depth. Our…
Robot manipulation and grasping mechanisms have received considerable attention in the recent past, leading to the development of wide range of industrial applications. This paper proposes the development of an autonomous robotic grasping…
For effective autonomous navigation,estimation of the pose of the robot is essential at every sampling time. For computing an accurate estimation,odometric error needs to be reduced with the help of data from external sensor. In this work,…
We explore the problem of estimating the mass distribution of an articulated object by an interactive robotic agent. Our method predicts the mass distribution of an object by using the limited sensing and actuating capabilities of a robotic…
Understanding physical relations between objects, especially their support relations, is crucial for robotic manipulation. There has been work on reasoning about support relations and structural stability of simple configurations in RGB-D…
Object dropping may occur when the robotic arm grasps objects with uneven mass distribution due to additional moments generated by objects' gravity. To solve this problem, we present a novel work that does not require extra wrist and…
We present initial results in the development of a novel robot using RGBD cameras, image segmentation, and a simple teat pose estimation algorithm for automated milking. We relate on the analysis of the accuracy of different commercial RGBD…
In recent times, object detection and pose estimation have gained significant attention in the context of robotic vision applications. Both the identification of objects of interest as well as the estimation of their pose remain important…
Automated patient positioning is a crucial step in streamlining MRI workflows and enhancing patient throughput. RGB-D camera-based systems offer a promising approach to automate this process by leveraging depth information to estimate…
To be useful in everyday environments, robots must be able to observe and learn about objects. Recent datasets enable progress for classifying data into known object categories; however, it is unclear how to collect reliable object data…
Deep object pose estimators are notoriously overconfident. A grasping agent that both estimates the 6-DoF pose of a target object and predicts the uncertainty of its own estimate could avoid task failure by choosing not to act under high…
Estimation of volume of piles in shipping ports plays a pivotal role for logistics management, facilitates better ship rescheduling and rerouting for economic benefits and contributes to overall efficient shipping management. This paper…
Handling objects with unknown or changing masses is a common challenge in robotics, often leading to errors or instability if the control system cannot adapt in real-time. In this paper, we present a novel approach that enables a…
Estimating the 6D pose of textureless objects from RGB images is an important problem in robotics. Due to appearance ambiguities, rotational symmetries, and severe occlusions, single-view based 6D pose estimators are still unable to handle…
We use static object data to improve success detection for stacking objects on and nesting objects in one another. Such actions are necessary for certain robotics tasks, e.g., clearing a dining table or packing a warehouse bin. However,…
The ability to estimate invertebrate biomass using only images could help scaling up quantitative biodiversity monitoring efforts. Computer vision-based methods have the potential to omit the manual, time-consuming, and destructive process…
In this paper, we propose mushrooms detection, localization and 3D pose estimation algorithm using RGB-D data acquired from a low-cost consumer RGB-D sensor. We use the RGB and depth information for different purposes. From RGB color, we…
Volume estimation in large indoor spaces is an important challenge in robotic inspection of industrial warehouses. We propose an approach for volume estimation for autonomous systems using visual features for indoor localization and surface…