Related papers: Robotic Inspection and Characterization of Subsurf…
Truly intelligent agents need to capture the interplay of all their senses to build a rich physical understanding of their world. In robotics, we have seen tremendous progress in using visual and tactile perception; however, we have often…
Scanning Transmission Electron Microscopy (STEM) enables the observation of atomic arrangements at sub-angstrom resolution, allowing for atomically resolved analysis of the physical and chemical properties of materials. However, due to the…
The rotation robustness property has drawn much attention to point cloud analysis, whereas it still poses a critical challenge in 3D object detection. When subjected to arbitrary rotation, most existing detectors fail to produce expected…
Visual-inertial SLAM systems often exhibit suboptimal performance due to multiple confounding factors including imperfect sensor calibration, noisy measurements, rapid motion dynamics, low illumination, and the inherent limitations of…
Sound is one of the most informative and abundant modalities in the real world while being robust to sense without contacts by small and cheap sensors that can be placed on mobile devices. Although deep learning is capable of extracting…
Marine debris poses a significant ecological threat to birds, fish, and other animal life. Traditional methods for assessing debris accumulation involve labor-intensive and costly manual surveys. This study introduces a framework that…
This technical report is an extended version of the paper 'Cooperative Multi-Target Localization With Noisy Sensors' accepted to the 2013 IEEE International Conference on Robotics and Automation (ICRA). This paper addresses the task of…
We introduce ICE-TIDE, a method for cryogenic electron tomography (cryo-ET) that simultaneously aligns observations and reconstructs a high-resolution volume. The alignment of tilt series in cryo-ET is a major problem limiting the…
This paper focuses on the emerging paradigm shift of collision-inclusive motion planning and control for impact-resilient mobile robots, and develops a unified hierarchical framework for navigation in unknown and partially-observable…
Seismic signal is used for vehicle classification widely. However, this task becomes difficult as a result of various noises. To solve the problem, this paper proposes a novel de-noising algorithm which evolves from a nonparametric adaptive…
ICORE is a command-line driven co-addition, mosaicking and resolution enhancement (HiRes) tool for creating science quality products from image data in FITS format and with World Coordinate System information following the FITS-WCS…
Visual Grounding (VG) aims at localizing target objects from an image based on given expressions and has made significant progress with the development of detection and vision transformer. However, existing VG methods tend to generate…
The Five-hundred-meter Aperture Spherical radio Telescope (FAST) is the world's largest single-dish radio telescope. Its large reflecting surface achieves unprecedented sensitivity but is prone to damage, such as dents and holes, caused by…
State estimation from measured data is crucial for robotic applications as autonomous systems rely on sensors to capture the motion and localize in the 3D world. Among sensors that are designed for measuring a robot's pose, or for soft…
Accurate and efficient tracking of surgical instruments is fundamental for Robot-Assisted Minimally Invasive Surgery. Although vision-based robot pose estimation has enabled markerless calibration without tedious physical setups, reliable…
This paper presents a novel approach for enabling robust robotic perception in dark environments using infrared (IR) stream. IR stream is less susceptible to noise than RGB in low-light conditions. However, it is dominated by active emitter…
With the mass construction of Gen III nuclear reactors, it is a popular trend to use deep learning (DL) techniques for fast and effective diagnosis of possible accidents. To overcome the common problems of previous work in diagnosing…
High-quality datasets can speed up breakthroughs and reveal potential developing directions in SLAM research. To support the research on corner cases of visual SLAM systems, this paper presents Ground-Challenge: a challenging dataset…
Structural integrity is vital for maintaining the safety and longevity of concrete infrastructures such as bridges, tunnels, and walls. Traditional methods for detecting damages like cracks and spalls are labor-intensive, time-consuming,…
Urban noise pollution poses a significant threat to public health, yet existing monitoring infrastructures offer limited spatial coverage and adaptability. This paper presents a scalable, low-cost, IoT-based, real-time environmental noise…