Related papers: CompdVision: Combining Near-Field 3D Visual and Ta…
Reliable perception remains a key challenge for Connected Automated Vehicles (CAVs) in complex real-world environments, where varying lighting conditions and adverse weather degrade sensing performance. While existing multi-sensor solutions…
With the rapid advancement of autonomous driving technology, there is a growing need for enhanced safety and efficiency in the automatic environmental perception of vehicles during their operation. In modern vehicle setups, cameras and…
This paper describes the design of a multi-camera optical tactile sensor that provides information about the contact force distribution applied to its soft surface. This information is contained in the motion of spherical particles spread…
Tactile sensing provides robots with rich feedback during manipulation, enabling a host of perception and controls capabilities. Here, we present a new open-source, vision-based tactile sensor designed to promote reproducibility and…
3D-printed artificial skins are a scalable approach to whole-body tactile and proximity coverage, but prior implementations have been limited to unimodal sensing and rigid materials. To improve the practical usability of 3D-printed…
Humans perceive the world using multi-modal sensory inputs such as vision, audition, and touch. In this work, we investigate the cross-modal connection between vision and touch. The main challenge in this cross-domain modeling task lies in…
Visuotactile sensors are a popular tactile sensing strategy due to high-fidelity estimates of local object geometry. However, existing algorithms for processing raw sensor inputs to useful intermediate signals such as contact patches…
We introduce a novel concept for motion robust optical 3D-sensing. The concept is based on multi-line triangulation. The aim is to evaluate a large number of projected lines (high data density) in a large measurement volume with high…
Despite radar's popularity in the automotive industry, for fusion-based 3D object detection, most existing works focus on LiDAR and camera fusion. In this paper, we propose TransCAR, a Transformer-based Camera-And-Radar fusion solution for…
Deformable objects often appear in unstructured configurations. Tracing deformable objects helps bringing them into extended states and facilitating the downstream manipulation tasks. Due to the requirements for object-specific modeling or…
In this paper, we address the problem of estimating the in-hand 6D pose of an object in contact with multiple vision-based tactile sensors. We reason on the possible spatial configurations of the sensors along the object surface.…
In the pursuit of deeper immersion in human-machine interaction, achieving higher-dimensional tactile input and output on a single interface has become a key research focus. This study introduces the Visual-Electronic Tactile (VET) System,…
Technology has made navigation in 3D real time possible and this has made possible what seemed impossible. This paper explores the aspect of deep visual odometry methods for mobile robots. Visual odometry has been instrumental in making…
Radars, due to their robustness to adverse weather conditions and ability to measure object motions, have served in autonomous driving and intelligent agents for years. However, Radar-based perception suffers from its unintuitive sensing…
Robotic three-dimensional (3D) ultrasound (US) imaging has been employed to overcome the drawbacks of traditional US examinations, such as high inter-operator variability and lack of repeatability. However, object movement remains a…
Robust 3D object detection is critical for safe autonomous driving. Camera and radar sensors are synergistic as they capture complementary information and work well under different environmental conditions. Fusing camera and radar data is…
The sense of touch plays a key role in enabling humans to understand and interact with surrounding environments. For robots, tactile sensing is also irreplaceable. While interacting with objects, tactile sensing provides useful information…
We tackle a challenging task: multi-view and multi-modal event detection that detects events in a wide-range real environment by utilizing data from distributed cameras and microphones and their weak labels. In this task, distributed…
Robotic in-hand manipulation requires reliable object-motion tracking under frequent visual occlusion, yet low-texture visuotactile images provide few stable correspondences for conventional image- or geometry-matching methods. This paper…
Traditional methods for achieving high localization accuracy on tactile sensors usually involve a matrix of miniaturized individual sensors distributed on the area of interest. This approach usually comes at a price of increased complexity…