Related papers: Self-Localized Collaborative Perception

Several animal species (e.g., bats, dolphins, and whales) and even visually impaired humans have the remarkable ability to perform echolocation: a biological sonar used to perceive spatial layout and locate objects in the world. We explore…

Collaborative multi-robot perception provides multiple views of an environment, offering varying perspectives to collaboratively understand the environment even when individual robots have poor points of view or when occlusions are caused…

In V2X collaborative perception, the domain gaps between heterogeneous nodes pose a significant challenge for effective information fusion. Pose errors arising from latency and GPS localization noise further exacerbate the issue by leading…

Collaborative perception in multi-agent system enhances overall perceptual capabilities by facilitating the exchange of complementary information among agents. Current mainstream collaborative perception methods rely on discretized feature…

One central goal of robotics is to enable robots to interact with the physical world. Traditional manipulation studies primarily focus on single robots and relatively small objects. However, factory and domestic environments often require…

Tactile sensing offers rich and complementary information to vision and language, enabling robots to perceive fine-grained object properties. However, existing tactile sensors lack standardization, leading to redundant features that hinder…

Head pose estimation (HPE) requires a sophisticated understanding of 3D spatial relationships to generate precise yaw, pitch, and roll angles. Previous HPE models, primarily CNN-based, rely on cropped close-up human head images as inputs…

Existing data collection methods for traffic operations and control usually rely on infrastructure-based loop detectors or probe vehicle trajectories. Connected and automated vehicles (CAVs) not only can report data about themselves but…

Utilizing the latest advances in Artificial Intelligence (AI), the computer vision community is now witnessing an unprecedented evolution in all kinds of perception tasks, particularly in object detection. Based on multiple spatially…

The cooperative localization (CL) problem in heterogeneous robotic systems with different measurement capabilities is investigated in this work. In practice, heterogeneous sensors lead to directed and sparse measurement topologies, whereas…

Collaborative learning enables distributed clients to learn a shared model for prediction while keeping the training data local on each client. However, existing collaborative learning methods require fully-labeled data for training, which…

We consider a collaborative learning setting where the goal of each agent is to improve their own model by leveraging the expertise of collaborators, in addition to their own training data. To facilitate the exchange of expertise among…

Multi-agent embodied systems hold promise for complex collaborative manipulation, yet face critical challenges in spatial coordination, temporal reasoning, and shared workspace awareness. Inspired by human collaboration where cognitive…

The recent advancement in computational and communication systems has led to the introduction of high-performing neural networks and high-speed wireless vehicular communication networks. As a result, new technologies such as cooperative…

Coordinating proximity and tactile imaging by collocating cameras with tactile sensors can 1) provide useful information before contact such as object pose estimates and visually servo a robot to a target with reduced occlusion and higher…

Autonomous vehicles equipped with robust onboard perception, localization, and planning still face limitations in occlusion and non-line-of-sight (NLOS) scenarios, where delayed reactions can increase collision risk. We propose CooperDrive,…

Sharing virtual content among multiple smart glasses wearers is an essential feature of a seamless Collaborative Augmented Reality experience. To enable the sharing, local coordinate systems of the underlying 6D ego-pose trackers, running…

In cooperative perception studies, there is often a trade-off between communication bandwidth and perception performance. While current feature fusion solutions are known for their excellent object detection performance, transmitting the…

Collaborative perception has garnered significant attention as a crucial technology to overcome the perceptual limitations of single-agent systems. Many state-of-the-art (SOTA) methods have achieved communication efficiency and high…

Effective collaboration in multi-robot systems requires accurate and robust estimation of relative localization: from cooperative manipulation to collaborative sensing, and including cooperative exploration or cooperative transportation.…