Related papers: Analysis on Multi-robot Relative 6-DOF Pose Estima…
Ultra-wideband (UWB) is emerging as a promising solution that can realize proximity services, such as UWB tagless gate (UTG), thanks to centimeter-level localization accuracy based on two different ranging methods such as downlink…
We introduce a model for monocular RGB relative pose estimation of a ground robot that trains from scratch without pose labels nor prior knowledge about the robot's shape or appearance. At training time, we assume: (i) a robot fitted with…
6D object pose estimation is an important task that determines the 3D position and 3D rotation of an object in camera-centred coordinates. By utilizing such a task, one can propose promising solutions for various problems related to scene…
Multi-perspective cameras with potentially non-overlapping fields of view have become an important exteroceptive sensing modality in a number of applications such as intelligent vehicles, drones, and mixed reality headsets. In this work, we…
6D object pose estimation networks are limited in their capability to scale to large numbers of object instances due to the close-set assumption and their reliance on high-fidelity object CAD models. In this work, we study a new open set…
Vision-guided robotic systems are increasingly deployed in precision alignment tasks that require reliable execution under near-field and off-axis configurations. While recent advances in pose estimation have significantly improved…
6D pose estimation in space poses unique challenges that are not commonly encountered in the terrestrial setting. One of the most striking differences is the lack of atmospheric scattering, allowing objects to be visible from a great…
6D object pose estimation is the problem of identifying the position and orientation of an object relative to a chosen coordinate system, which is a core technology for modern XR applications. State-of-the-art 6D object pose estimators…
Understanding the location of ultra-wideband (UWB) tag-attached objects and people in the real world is vital to enabling a smooth cyber-physical transition. However, most UWB localization systems today require multiple anchors in the…
This paper considers the simultaneous position and orientation planning of nonholonomic multirobot systems. Different from common researches which only focus on final position constraints, we model the nonholonomic mobile robot as a rigid…
6D pose recognition has been a crucial factor in the success of robotic grasping, and recent deep learning based approaches have achieved remarkable results on benchmarks. However, their generalization capabilities in real-world…
Surgical robots are usually controlled using a priori models based on the robots' geometric parameters, which are calibrated before the surgical procedure. One of the challenges in using robots in real surgical settings is that those…
Accurate 3D pose estimation of grasped objects is an important prerequisite for robots to perform assembly or in-hand manipulation tasks, but object occlusion by the robot's own hand greatly increases the difficulty of this perceptual task.…
Stable and accurate tracking is essential for marine robotics, yet Global Navigation Satellite System (GNSS) signals vanish immediately below the sea surface. Traditional alternatives suffer from error accumulation, high computational…
This paper introduces key machine learning operations that allow the realization of robust, joint 6D pose estimation of multiple instances of objects either densely packed or in unstructured piles from RGB-D data. The first objective is to…
Autonomous Nano Aerial Vehicles have been increasingly popular in surveillance and monitoring operations due to their efficiency and maneuverability. Once a target location has been reached, drones do not have to remain active during the…
The emergence of data-driven approaches for control and planning in robotics have highlighted the need for developing experimental robotic platforms for data collection. However, their implementation is often complex and expensive, in…
Location information is a fundamental requirement for unmanned aerial vehicles (UAVs) and other wireless sensor networks (WSNs). However, accurately and efficiently localizing sensor nodes with diverse functionalities remains a significant…
Ultra-wideband (UWB) is gaining popularity with devices like AirTags for precise home item localization but faces significant challenges when scaled to large environments like seaports. The main challenges are calibration and localization…
Navigation applications relying on the Global Navigation Satellite System (GNSS) are limited in indoor environments and GNSS-denied outdoor terrains such as dense urban or forests. In this paper, we present a novel accurate, robust and…