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Active vision (AV) has been in the spotlight of robotics research due to its emergence in numerous applications including agricultural tasks such as precision crop monitoring and autonomous harvesting to list a few. A major AV problem that…
The task of establishing and maintaining situational awareness in an unknown environment is a critical step to fulfil in a mission related to the field of rescue robotics. Predominantly, the problem of visual inspection of urban structures…
In real-world scenarios, many robotic manipulation tasks are hindered by occlusions and limited fields of view, posing significant challenges for passive observation-based models that rely on fixed or wrist-mounted cameras. In this paper,…
Manually selecting viewpoints or using commonly available flight planners like circular path for large-scale 3D reconstruction using drones often results in incomplete 3D models. Recent works have relied on hand-engineered heuristics such…
In cluttered scenes with inevitable occlusions and incomplete observations, selecting informative viewpoints is essential for building a reliable representation. In this context, 3D Gaussian Splatting (3DGS) offers a distinct advantage, as…
Over the past few years, the use of camera-equipped robotic platforms for data collection and visually monitoring applications has exponentially grown. Cluttered construction sites with many objects (e.g., bricks, pipes, etc.) on the ground…
Robotic manipulation in complex scenes demands precise perception of task-relevant details, yet fixed or suboptimal viewpoints often impair fine-grained perception and induce occlusions, constraining imitation-learned policies. We present…
Surveying 3D scenes is a common task in robotics. Systems can do so autonomously by iteratively obtaining measurements. This process of planning observations to improve the model of a scene is called Next Best View (NBV) planning. NBV…
This paper introduces a novel classification for Autonomous Mobile Robots (AMRs), into three phases and five steps, focusing on autonomous collision-free navigation. Additionally, it presents the main methods and widely accepted…
Mobile autonomous robots include numerous sensors for environment perception. Cameras are an essential tool for robot's localization, navigation, and obstacle avoidance. To process a large flow of data from the sensors, it is necessary to…
In recent years, Neural Radiance Fields (NeRF) have emerged as a powerful tool for 3D reconstruction and novel view synthesis. However, the computational cost of NeRF rendering and degradation in quality due to the presence of artifacts…
Understanding the scene around the ego-vehicle is key to assisted and autonomous driving. Nowadays, this is mostly conducted using cameras and laser scanners, despite their reduced performances in adverse weather conditions. Automotive…
Neural Radiance Fields, or NeRFs, have drastically improved novel view synthesis and 3D reconstruction for rendering. NeRFs achieve impressive results on object-centric reconstructions, but the quality of novel view synthesis with…
The problem of finding a next best viewpoint for 3D modeling or scene mapping has been explored in computer vision over the last decade. This paper tackles a similar problem, but with different characteristics. It proposes a method for…
The deep neural network (DNN) models for object detection using camera images are widely adopted in autonomous vehicles. However, DNN models are shown to be susceptible to adversarial image perturbations. In the existing methods of…
This paper presents a vision guidance and control method for autonomous robotic capture and stabilization of orbital objects in a time-critical manner. The method takes into account various operational and physical constraints, including…
We propose a novel receding horizon planner for an autonomous surface vehicle (ASV) performing path planning in urban waterways. Feasible paths are found by repeatedly generating and searching a graph reflecting the obstacles observed in…
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…
The application of vision-based multi-view environmental perception system has been increasingly recognized in autonomous driving technology, especially the BEV-based models. Current state-of-the-art solutions primarily encode image…
This paper presents our approach to develop a method for an unmanned ground vehicle (UGV) to perform inspection tasks in nuclear environments using rich information maps. To reduce inspectors' exposure to elevated radiation levels, an…