Related papers: A Skeleton-based Approach For Rock Crack Detection…
Crack is one of the most common road distresses which may pose road safety hazards. Generally, crack detection is performed by either certified inspectors or structural engineers. This task is, however, time-consuming, subjective and…
This paper presents visual and 3D structure inspection for steel structures and bridges using a developed climbing robot. The robot can move freely on a steel surface, carry sensors, collect data and then send to the ground station in real…
Automated assessment of human motion plays a vital role in rehabilitation, enabling objective evaluation of patient performance and progress. Unlike general human activity recognition, rehabilitation motion assessment focuses on analyzing…
The skeleton of a digital image is a compact representation of its topology, geometry, and scale. It has utility in many computer vision applications, such as image description, segmentation, and registration. However, skeletonization has…
This paper develops a real-time decentralized metric-semantic SLAM algorithm that enables a heterogeneous robot team to collaboratively construct object-based metric-semantic maps. The proposed framework integrates a data-driven front-end…
Skyline plays a pivotal role in mountainous visual geo-localization and localization/navigation of planetary rovers/UAVs and virtual/augmented reality applications. We present a novel mountainous skyline detection approach where we adapt a…
Skeletonization is a popular shape analysis technique that models an object's interior as opposed to just its boundary. Fitting template-based skeletal models is a time-consuming process requiring much manual parameter tuning. Recently,…
Training machine learning models for robotic tactile sensing requires vast amounts of data, yet obtaining realistic interaction data remains a challenge due to physical complexity and variability. Simulating tactile sensors is thus a…
Collision detection is a core component of robotics applications such as simulation, control, and planning. Traditional algorithms like GJK+EPA compute witness points (i.e., the closest or deepest-penetration pairs between two objects) but…
It is at times important to detect human presence automatically in secure environments. This needs a shape recognition algorithm that is robust, fast and has low error rates. The algorithm needs to process camera images quickly to detect…
Bridges are an essential part of the transportation infrastructure and need to be monitored periodically. Visual inspections by dedicated teams have been one of the primary tools in structural health monitoring (SHM) of bridge structures.…
Keypoint detection & descriptors are foundational tech-nologies for computer vision tasks like image matching, 3D reconstruction and visual odometry. Hand-engineered methods like Harris corners, SIFT, and HOG descriptors have been used for…
Autonomous exploration in unknown environments is key for mobile robots, helping them perceive, map, and make decisions in complex areas. However, current methods often rely on frequent global optimization, suffering from high computational…
Automated surface-anomaly detection using machine learning has become an interesting and promising area of research, with a very high and direct impact on the application domain of visual inspection. Deep-learning methods have become the…
Snake robots enable mobility through extreme terrains and confined environments in terrestrial and space applications. However, robust perception and localization for snake robots remain an open challenge due to the proximity of the sensor…
This paper presents SCALER, a versatile free-climbing multi-limbed robot that is designed to achieve tightly coupled simultaneous locomotion and dexterous grasping. While existing quadrupedal-limbed robots have demonstrated impressive…
Stable and reliable grasp is critical to robotic manipulations especially for fragile and glazed objects, where the grasp force requires precise control as too large force possibly damages the objects while small force leads to slip and…
Machine learning (ML) models that achieve high average accuracy can still underperform on semantically coherent subsets ("slices") of data. This behavior can have significant societal consequences for the safety or bias of the model in…
The paper presents a new method, SearchTrack, for multiple object tracking and segmentation (MOTS). To address the association problem between detected objects, SearchTrack proposes object-customized search and motion-aware features. By…
Computer vision-based damage detection using remote cameras and unmanned aerial vehicles (UAVs) enables efficient and low-cost bridge health monitoring that reduces labor costs and the needs for sensor installation and maintenance. By…