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Tactile information plays a critical role in human dexterity. It reveals useful contact information that may not be inferred directly from vision. In fact, humans can even perform in-hand dexterous manipulation without using vision. Can we…
Focus control (FC) is crucial for cameras to capture sharp images in challenging real-world scenarios. The autofocus (AF) facilitates the FC by automatically adjusting the focus settings. However, due to the lack of effective AF methods for…
Electro-Ribbon Actuators (ERAs) are lightweight flexural actuators that exhibit ultrahigh displacement and fast movement. However, their embedded sensing relies on capacitive sensors with limited precision, which hinders accurate control.…
Recent trend of touch-screen devices produces an accessibility barrier for visually impaired people. On the other hand, these devices come with sensors such as accelerometer. This calls for new approaches to human computer interface (HCI).…
Robotic manipulation in complex scenes demands precise perception of task-relevant details, yet fixed or suboptimal viewpoints often impair fine-grained perception and induce occlusions, constraining imitation-learned policies. We present…
In this work, we introduce the EyeSight Hand, a novel 7 degrees of freedom (DoF) humanoid hand featuring integrated vision-based tactile sensors tailored for enhanced whole-hand manipulation. Additionally, we introduce an actuation scheme…
The rapid proliferation of drones requires balancing innovation with regulation. To address security and privacy concerns, techniques for drone detection have attracted significant attention.Passive solutions, such as frame camera-based…
3D hand tracking methods based on monocular RGB videos are easily affected by motion blur, while event camera, a sensor with high temporal resolution and dynamic range, is naturally suitable for this task with sparse output and low power…
Accurate measurement of shock wave motion parameters with high spatiotemporal resolution is essential for applications such as power field testing and damage assessment. However, significant challenges are posed by the fast, uneven…
The broad scope of obstacle avoidance has led to many kinds of computer vision-based approaches. Despite its popularity, it is not a solved problem. Traditional computer vision techniques using cameras and depth sensors often focus on…
This paper proposes a novel method for human hands tracking using data from an event camera. The event camera detects changes in brightness, measuring motion, with low latency, no motion blur, low power consumption and high dynamic range.…
Detecting the objects in dense and rotated scenes is a challenging task. Recent works on this topic are mostly based on Faster RCNN or Retinanet. As they are highly dependent on the pre-set dense anchors and the NMS operation, the approach…
Autonomous driving needs various line-of-sight sensors to perceive surroundings that could be impaired under diverse environment uncertainties such as visual occlusion and extreme weather. To improve driving safety, we explore to wirelessly…
The research project HDV-Mess aims at a currently missing, but very crucial component for addressing important challenges in the field of connected and automated driving on public roads. The goal is to record traffic events at various…
Tactile sensing is a crucial perception mode for robots and human amputees in need of controlling a prosthetic device. Today robotic and prosthetic systems are still missing the important feature of accurate tactile sensing. This lack is…
Tactile sensing is important for robots to perceive the world as it captures the texture and hardness of the object in contact and is robust to illumination and colour variances. However, due to the limited sensing area and the resistance…
This paper presents experimental results from real-time parameter estimation of a system model and subsequent trajectory optimization for a dynamic task using the Baxter Research Robot from Rethink Robotics. An active estimator maximizing…
Vision-based localization is a cost-effective and thus attractive solution for many intelligent mobile platforms. However, its accuracy and especially robustness still suffer from low illumination conditions, illumination changes, and…
Tactile sensors are increasingly integrated into dexterous robotic manipulators to enhance contact perception. However, learning manipulation policies that rely on tactile sensing remains challenging, primarily due to the trade-off between…
Compared to regular cameras, Dynamic Vision Sensors or Event Cameras can output compact visual data based on a change in the intensity in each pixel location asynchronously. In this paper, we study the application of current image-based…