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We propose a robust and accurate method for estimating the 3D poses of two hands in close interaction from a single color image. This is a very challenging problem, as large occlusions and many confusions between the joints may happen.…
We consider the problem of 3D object pose estimation. While much recent work has focused on the RGB domain, the reliance on accurately annotated images limits their generalizability and scalability. On the other hand, the easily available…
We present an approach for estimating a mobile robot's pose w.r.t. the allocentric coordinates of a network of static cameras using multi-view RGB images. The images are processed online, locally on smart edge sensors by deep neural…
Keypoint detection is an essential building block for many robotic applications like motion capture and pose estimation. Historically, keypoints are detected using uniquely engineered markers such as checkerboards or fiducials. More…
Object pose estimation is crucial to robotic perception and typically provides a single-pose estimate. However, a single estimate cannot capture pose uncertainty deriving from visual ambiguity, which can lead to unreliable behavior.…
In agricultural automation, inherent occlusion presents a major challenge for robotic harvesting. We propose a novel imitation learning-based viewpoint planning approach to actively adjust camera viewpoint and capture unobstructed images of…
The tomato is one of the most important fruits on earth. It plays an important and useful role in the agricultural production of any country. This research propose a novel smart technique for early detection of late blight diseases in…
Agricultural robots are expected to increase yields in a sustainable way and automate precision tasks, such as weeding and plant monitoring. At the same time, they move in a continuously changing, semi-structured field environment, in which…
We tackle the problem of getting a full 6-DOF pose estimation of a query image inside a given point cloud. This technical report re-evaluates the algorithms proposed by Y. Li et al. "Worldwide Pose Estimation using 3D Point Cloud". Our code…
6D pose estimation of rigid objects from RGB-D images is crucial for object grasping and manipulation in robotics. Although RGB channels and the depth (D) channel are often complementary, providing respectively the appearance and geometry…
Recent research on the application of remote sensing and deep learning-based analysis in precision agriculture demonstrated a potential for improved crop management and reduced environmental impacts of agricultural production. Despite the…
The self-localization capability is a crucial component for Unmanned Ground Vehicles (UGV) in farming applications. Approaches based solely on visual cues or on low-cost GPS are easily prone to fail in such scenarios. In this paper, we…
Tomato crop health plays a critical role in ensuring agricultural productivity and food security. Timely and accurate detection of diseases affecting tomato plants is vital for effective disease management. In this study, we propose a deep…
Perception-for-grasping is a challenging problem in robotics. Inexpensive range sensors such as the Microsoft Kinect provide sensing capabilities that have given new life to the effort of developing robust and accurate perception methods…
RGB-D cameras, which give an RGB image to- gether with depths, are becoming increasingly popular for robotic perception. In this paper, we address the task of detecting commonly found objects in the 3D point cloud of indoor scenes obtained…
The 3D depth estimation and relative pose estimation problem within a decentralized architecture is a challenging problem that arises in missions that require coordination among multiple vision-controlled robots. The depth estimation…
Robust object pose estimation is essential for manipulation and interaction tasks in robotics, particularly in scenarios where visual data is limited or sensitive to lighting, occlusions, and appearances. Tactile sensors often offer limited…
Detecting pedestrians is a crucial task in autonomous driving systems to ensure the safety of drivers and pedestrians. The technologies involved in these algorithms must be precise and reliable, regardless of environment conditions. Relying…
3D hand pose tracking/estimation will be very important in the next generation of human-computer interaction. Most of the currently available algorithms rely on low-cost active depth sensors. However, these sensors can be easily interfered…
Estimating robot pose and joint angles is significant in advanced robotics, enabling applications like robot collaboration and online hand-eye calibration.However, the introduction of unknown joint angles makes prediction more complex than…