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We present a novel technique to estimate the 6D pose of objects from single images where the 3D geometry of the object is only given approximately and not as a precise 3D model. To achieve this, we employ a dense 2D-to-3D correspondence…
Relative localization between autonomous robots without infrastructure is crucial to achieve their navigation, path planning, and formation in many applications, such as emergency response, where acquiring a prior knowledge of the…
In this work, we propose the use of Ground Penetrating Radar (GPR) for rover localization on Mars. Precise pose estimation is an important task for mobile robots exploring planetary surfaces, as they operate in GPS-denied environments.…
Precise robotic grasping is important for many industrial applications, such as assembly and palletizing, where the location of the object needs to be controlled and known. However, achieving precise grasps is challenging due to noise in…
Real-time robotic grasping, supporting a subsequent precise object-in-hand operation task, is a priority target towards highly advanced autonomous systems. However, such an algorithm which can perform sufficiently-accurate grasping with…
Soft pneumatic legged robots show promise in their ability to traverse a range of different types of terrain, including natural unstructured terrain met in applications like precision agriculture. They can adapt their body morphology to the…
Adaptive robots in dynamic production environments require robust perception capabilities, including 6D pose estimation and multi-object tracking. To address limitations in real-world data dependency, noise robustness, and spatiotemporal…
This paper presents an effective and reliable pose tracking solution, termed ERPoT, for mobile robots operating in large-scale outdoor and challenging indoor environments, underpinned by an innovative prior polygon map. Especially, to…
Achieving safe quadrupedal locomotion in real-world environments has attracted much attention in recent years. When walking over uneven terrain, achieving reliable estimation and realising safety-critical control based on the obtained…
Legged robots leverage ground contacts and the reaction forces they provide to achieve agile locomotion. However, uncertainty coupled with contact discontinuities can lead to failure, especially in real-world environments with unexpected…
In this work, we bridge the gap between recent pose estimation and tracking work to develop a powerful method for robots to track objects in their surroundings. Motion-Nets use a segmentation model to segment the scene, and separate…
With the development of robotics, ground robots are no longer limited to planar motion. Passive height variation due to complex terrain and active height control provided by special structures on robots require a more general navigation…
Continuum robots have emerged as a promising technology in the medical field due to their potential of accessing deep sited locations of the human body with low surgical trauma. When deriving physics-based models for these robots,…
Global localization of a mobile robot using planar surface segments extracted from depth images is considered. The robot's environment is represented by a topological map consisting of local models, each representing a particular location…
Although haptic sensing has recently been used for legged robot localization in extreme environments where a camera or LiDAR might fail, the problem of efficiently representing the haptic signatures in a learned prior map is still open.…
In multi-robot missions, relative position and attitude information between agents is valuable for a variety of tasks such as mapping, planning, and formation control. In this paper, the problem of estimating relative poses from a set of…
Grasping of novel objects in pick and place applications is a fundamental and challenging problem in robotics, specifically for complex-shaped objects. It is observed that the well-known strategies like \textit{i}) grasping from the…
This paper presents a framework for dynamic object catching using a quadruped robot's front legs while it stands on its rear legs. The system integrates computer vision, trajectory prediction, and leg control to enable the quadruped to…
Precise initialization plays a critical role in the performance of localization algorithms, especially in the context of robotics, autonomous driving, and computer vision. Poor localization accuracy is often a consequence of inaccurate…
To build commercial robots, skid-steering mechanical design is of increased popularity due to its manufacturing simplicity and unique mechanism. However, these also cause significant challenges on software and algorithm design, especially…