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Visual odometry is a fundamental task for many applications on mobile devices and robotic platforms. Since such applications are oftentimes not limited to predefined target domains and learning-based vision systems are known to generalize…
Tracking the 6D pose of objects in video sequences is important for robot manipulation. This task, however, introduces multiple challenges: (i) robot manipulation involves significant occlusions; (ii) data and annotations are troublesome…
Appearance features have been widely used in video anomaly detection even though they contain complex entangled factors. We propose a new method to model the normal patterns of human movements in surveillance video for anomaly detection…
In this work, we present an appearance based human activity recognition system. It uses background modeling to segment the foreground object and extracts useful discriminative features for representing activities performed by humans and…
There has been an increasing interest in 3D indoor navigation, where a robot in an environment moves to a target according to an instruction. To deploy a robot for navigation in the physical world, lots of training data is required to learn…
Accurate inertial parameter identification is crucial for the simulation and control of robots encountering intermittent contact with the environment. Classically, robots' inertial parameters are obtained from CAD models that are not…
To operate intelligently in domestic environments, robots require the ability to understand arbitrary spatial relations between objects and to generalize them to objects of varying sizes and shapes. In this work, we present a novel…
We propose a novel robotic system that can improve its perception during deployment. Contrary to the established approach of learning semantics from large datasets and deploying fixed models, we propose a framework in which semantic models…
Traditional visual servoing methods suffer from serving between scenes from multiple perspectives, which humans can complete with visual signals alone. In this paper, we investigated how multi-perspective visual servoing could be solved…
Real-time video analysis remains a challenging problem in computer vision, requiring efficient processing of both spatial and temporal information while maintaining computational efficiency. Existing approaches often struggle to balance…
The field of collaborative robotics and human-robot interaction often focuses on the prediction of human behaviour, while assuming the information about the robot setup and configuration being known. This is often the case with fixed…
Despite the recent success of state-of-the-art 3D object recognition approaches, service robots are frequently failed to recognize many objects in real human-centric environments. For these robots, object recognition is a challenging task…
Obtaining dynamic models of continuum soft robots is central to the analysis and control of soft robots, and researchers have devoted much attention to the challenge of proposing both data-driven and first-principle solutions. Both avenues…
Robust and fast motion estimation and mapping is a key prerequisite for autonomous operation of mobile robots. The goal of performing this task solely on a stereo pair of video cameras is highly demanding and bears conflicting objectives:…
In dynamic environments, the ability to detect and track moving objects in real-time is crucial for autonomous robots to navigate safely and effectively. Traditional methods for dynamic object detection rely on high accuracy odometry and…
We consider the general class of time-homogeneous stochastic dynamical systems, both discrete and continuous, and study the problem of learning a representation of the state that faithfully captures its dynamics. This is instrumental to…
Visual localization is the task of estimating camera pose in a known scene, which is an essential problem in robotics and computer vision. However, long-term visual localization is still a challenge due to the environmental appearance…
Object detection is an essential task for autonomous robots operating in dynamic and changing environments. A robot should be able to detect objects in the presence of sensor noise that can be induced by changing lighting conditions for…
Visual localization and mapping is a crucial capability to address many challenges in mobile robotics. It constitutes a robust, accurate and cost-effective approach for local and global pose estimation within prior maps. Yet, in highly…
Accurate shape reconstruction is essential for precise control and reliable operation of soft robots. Compared to sensor-based approaches, vision-based methods offer advantages in cost, simplicity, and ease of deployment. However, existing…