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This paper presents a coordination algorithm for mobile autonomous robots. Relying upon distributed sensing the robots achieve rendezvous, that is, they move to a common location. Each robot is a point mass moving in a nonconvex environment…
Underwater simulators offer support for building robust underwater perception solutions. Significant work has recently been done to develop new simulators and to advance the performance of existing underwater simulators. Still, there…
Although quadrotors, and aerial robots in general, are inherently active agents, their perceptual capabilities in literature so far have been mostly passive in nature. Researchers and practitioners today use traditional computer vision…
Instruction-guided image editing methods have demonstrated significant potential by training diffusion models on automatically synthesized or manually annotated image editing pairs. However, these methods remain far from practical,…
Wide field-of-view (FoV) LiDAR sensors provide dense geometry across large environments, but existing LiDAR-inertial-visual odometry (LIVO) systems generally rely on a single camera, limiting their ability to fully exploit LiDAR-derived…
Feed-forward 3D Gaussian splatting (3DGS) models have gained significant popularity due to their ability to generate scenes immediately without needing per-scene optimization. Although omnidirectional images are becoming more popular since…
This work introduces a novel bio-inspired reconfigurable stereo vision system for robotics, leveraging omnidirectional cameras and a novel algorithm to achieve flexible visual capabilities. Inspired by the adaptive vision of various…
Perceiving the surrounding environment is a fundamental task in autonomous driving. To obtain highly accurate perception results, modern autonomous driving systems typically employ multi-modal sensors to collect comprehensive environmental…
Reliable obstacle avoidance in industrial settings demands 3D scene understanding, but widely used 2D LiDAR sensors perceive only a single horizontal slice of the environment, missing critical obstacles above or below the scan plane. We…
The field of 4D world modeling - aiming to jointly capture spatial geometry and temporal dynamics - has witnessed remarkable progress in recent years, driven by advances in large-scale generative models and multimodal learning. However, the…
To autonomously navigate in real-world environments, special in search and rescue operations, Unmanned Aerial Vehicles (UAVs) necessitate comprehensive maps to ensure safety. However, the prevalent metric map often lacks semantic…
Endoluminal surgery offers a minimally invasive option for early-stage gastrointestinal and urinary tract cancers but is limited by surgical tools and a steep learning curve. Robotic systems, particularly continuum robots, provide flexible…
Omnidirectional depth estimation enables efficient 3D perception over a full 360-degree range. However, in real-world applications such as autonomous driving and robotics, achieving real-time performance and robust cross-scene…
Humanoid robotics research depends on capable robot platforms, but recently developed advanced platforms are often not available to other research groups, expensive, dangerous to operate, or closed-source. The lack of available platforms…
Video-based sensing from aerial drones, especially small multirotor drones, can provide rich data for numerous applications, including traffic analysis (computing traffic flow volumes), precision agriculture (periodically evaluating plant…
In this paper, we introduce the task of multi-view RGB-based 3D object detection as an end-to-end optimization problem. To address this problem, we propose ImVoxelNet, a novel fully convolutional method of 3D object detection based on…
Multi-view cooperative perception and multimodal fusion are essential for reliable 3D spatiotemporal understanding in autonomous driving, especially under occlusions, limited viewpoints, and communication delays in V2X scenarios. This paper…
Few-shot object detection has drawn increasing attention in the field of robotic exploration, where robots are required to find unseen objects with a few online provided examples. Despite recent efforts have been made to yield online…
Humans effortlessly integrate common-sense knowledge with sensory input from vision and touch to understand their surroundings. Emulating this capability, we introduce FusionSense, a novel 3D reconstruction framework that enables robots to…
In this work we propose a holistic framework for autonomous aerial inspection tasks, using semantically-aware, yet, computationally efficient planning and mapping algorithms. The system leverages state-of-the-art receding horizon…