Related papers: Semi-Autonomous Laparoscopic Robot Docking with Le…

Pose estimation-guided unseen object 6-DoF robotic manipulation is a key task in robotics. However, the scalability of current pose estimation methods to unseen objects remains a fundamental challenge, as they generally rely on CAD models…

In this work we present a novel approach to joint semantic localisation and scene understanding. Our work is motivated by the need for localisation algorithms which not only predict 6-DoF camera pose but also simultaneously recognise…

Accurate and real-time three-dimensional (3D) pose estimation is challenging in resource-constrained and dynamic environments owing to its high computational complexity. To address this issue, this study proposes a novel cooperative…

It's a practical approach using the ground-aerial collaborative system to enhance the localization robustness of flying robots in cluttered environments, especially when visual sensors degrade. Conventional approaches estimate the flying…

Deep learning (DL) has enabled impressive advances in robotic perception, yet its limited robustness and lack of interpretability hinder reliable deployment in safety critical applications. We propose a concept termed perceptive shared…

In-orbit automated servicing is a promising path towards lowering the cost of satellite operations and reducing the amount of orbital debris. For this purpose, we present a pipeline for automated satellite docking port detection and state…

Autonomous underwater vehicles (AUVs) have been deployed for underwater exploration. However, its potential is confined by its limited on-board battery energy and data storage capacity. This problem has been addressed using docking systems…

We consider a single-query 6-DoF camera pose estimation with reference images and a point cloud, i.e. the problem of estimating the position and orientation of a camera by using reference images and a point cloud. In this work, we perform a…

We present a joint camera and radar approach to enable autonomous vehicles to understand and react to human gestures in everyday traffic. Initially, we process the radar data with a PointNet followed by a spatio-temporal multilayer…

Estimating the pose of an uncooperative spacecraft is an important computer vision problem for enabling the deployment of automatic vision-based systems in orbit, with applications ranging from on-orbit servicing to space debris removal.…

In this paper we propose a new flexible method for hand-eye calibration. The vast majority of existing hand-eye calibration techniques requires a calibration rig which is used in conjunction with camera pose estimation methods. Instead, we…

Ego-motion estimation is vital for drones when flying in GPS-denied environments. Vision-based methods struggle when flight speed increases and close-by objects lead to difficult visual conditions with considerable motion blur and large…

Although fully autonomous systems still face challenges due to patients' anatomical variability, teleoperated systems appear to be more practical in current healthcare settings. This paper presents an anatomy-aware control framework for…

We present HUP-3D, a 3D multi-view multi-modal synthetic dataset for hand-ultrasound (US) probe pose estimation in the context of obstetric ultrasound. Egocentric markerless 3D joint pose estimation has potential applications in mixed…

Collaborative robots are becoming more common on factory floors as well as regular environments, however, their safety still is not a fully solved issue. Collision detection does not always perform as expected and collision avoidance is…

Ensuring safe and efficient operation of collaborative robots in human environments is challenging, especially in dynamic settings where both obstacle motion and tasks change over time. Current robot controllers typically assume full…

Deep learning object detection methods, like YOLOv5, are effective in identifying maritime vessels but often lack detailed information important for practical applications. In this paper, we addressed this problem by developing a technique…

Real-time registration of partially overlapping point clouds has emerging applications in cooperative perception for autonomous vehicles and multi-agent SLAM. The relative translation between point clouds in these applications is higher…

Recent diffusion-based image editing methods commonly rely on text or high-level instructions to guide the generation process, offering intuitive but coarse control. In contrast, we focus on explicit, prompt-free editing, where the user…

Reliable robot pose estimation is a key building block of many robot autonomy pipelines, with LiDAR localization being an active research domain. In this work, a versatile self-supervised LiDAR odometry estimation method is presented, in…