Related papers: One Object at a Time: Accurate and Robust Structur…
Humans have the remarkable ability to use held objects as tools to interact with their environment. For this to occur, humans internally estimate how hand movements affect the object's movement. We wish to endow robots with this capability.…
In robotics motion is often described from an external perspective, i.e., we give information on the obstacle motion in a mathematical manner with respect to a specific (often inertial) reference frame. In the current work, we propose to…
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…
Learning to manipulate objects efficiently, particularly those involving sustained contact (e.g., pushing, sliding) and articulated parts (e.g., drawers, doors), presents significant challenges. Traditional methods, such as robot-centric…
To use robots in more unstructured environments, we have to accommodate for more complexities. Robotic systems need more awareness of the environment to adapt to uncertainty and variability. Although cameras have been predominantly used in…
There are few industries which use manually controlled robots for carrying material and this cannot be used all the time in all the places. So, it is very tranquil to have robots which can follow a specific human by following the unique…
Estimating the relative pose of a new object without prior knowledge is a hard problem, while it is an ability very much needed in robotics and Augmented Reality. We present a method for tracking the 6D motion of objects in RGB video…
Fast appearance variations and the distractions of similar objects are two of the most challenging problems in visual object tracking. Unlike many existing trackers that focus on modeling only the target, in this work, we consider the…
Humans excel in grasping and manipulating objects because of their life-long experience and knowledge about the 3D shape and weight distribution of objects. However, the lack of such intuition in robots makes robotic grasping an…
As we move through the world, the pattern of light projected on our eyes is complex and dynamic, yet we are still able to distinguish between moving and stationary objects. We propose that humans accomplish this by exploiting constraints…
Recent visual pose estimation and tracking solutions provide notable results on popular datasets such as T-LESS and YCB. However, in the real world, we can find ambiguous objects that do not allow exact classification and detection from a…
We provide a method for detecting and localizing objects near a robot arm using arm-mounted miniature time-of-flight sensors. A key challenge when using arm-mounted sensors is differentiating between the robot itself and external objects in…
During the evacuation of a building, the rapid and accurate tracking of human evacuees can be used by a guide robot to increase the effectiveness of the evacuation [1],[2]. This paper introduces a near real-time human position tracking…
We propose a method to track the 6D pose of an object over time, while the object is under non-prehensile manipulation by a robot. At any given time during the manipulation of the object, we assume access to the robot joint controls and an…
Humans can effortlessly anticipate how objects might move or change through interaction--imagining a cup being lifted, a knife slicing, or a lid being closed. We aim to endow computational systems with a similar ability to predict plausible…
Localizing an object accurately with respect to a robot is a key step for autonomous robotic manipulation. In this work, we propose to tackle this task knowing only 3D models of the robot and object in the particular case where the scene is…
This paper introduces a novel approach for the grasping and precise placement of various known rigid objects using multiple grippers within highly cluttered scenes. Using a single depth image of the scene, our method estimates multiple 6D…
Close and precise placement of irregularly shaped objects requires a skilled robotic system. The manipulation of objects that have sensitive top surfaces and a fixed set of neighbors is particularly challenging. To avoid damaging the…
Real-world object manipulation has been commonly challenged by physical uncertainties and perception limitations. Being an effective strategy, while caging configuration-based manipulation frameworks have successfully provided robust…
Contact can be conceptualized as a set of constraints imposed on two bodies that are interacting with one another in some way. The nature of a contact, whether a point, line, or surface, dictates how these bodies are able to move with…