Related papers: PANS: Probabilistic Airway Navigation System for R…
Optical cameras are gaining popularity as the suitable sensor for relative navigation in space due to their attractive sizing, power and cost properties when compared to conventional flight hardware or costly laser-based systems. However, a…
Pulmonary embolism (PE) is a highly mortal disease, currently assessed by pulmonary CT angiography. True-FISP MRI has emerged as an innocuous alternative that does not hold many of the limitations of x-ray imaging. However, True-FISP MRI is…
Spacecraft pose estimation is a key task to enable space missions in which two spacecrafts must navigate around each other. Current state-of-the-art algorithms for pose estimation employ data-driven techniques. However, there is an absence…
We address the problem of estimating the relative 6D pose, i.e., position and orientation, of a target spacecraft, from a monocular image, a key capability for future autonomous Rendezvous and Proximity Operations. Due to the difficulty of…
Target tracking has numerous significant civilian and military applications, and maintaining the visibility of the target plays a vital role in ensuring the success of the tracking task. Existing visibility-aware planners primarily focus on…
Simultaneous localization and mapping (SLAM) are essential in numerous robotics applications, such as autonomous navigation. Traditional SLAM approaches infer the metric state of the robot along with a metric map of the environment. While…
Optical colonoscopy is an essential diagnostic and prognostic tool for many gastrointestinal diseases, including cancer screening and staging, intestinal bleeding, diarrhea, abdominal symptom evaluation, and inflammatory bowel disease…
The task of 6D object pose estimation from RGB images is an important requirement for autonomous service robots to be able to interact with the real world. In this work, we present a two-step pipeline for estimating the 6 DoF translation…
Current capsule endoscopes and next-generation robotic capsules for diagnosis and treatment of gastrointestinal diseases are complex cyber-physical platforms that must orchestrate complex software and hardware functions. The desired tasks…
Despite the significant progress in six degrees-of-freedom (6DoF) object pose estimation, existing methods have limited applicability in real-world scenarios involving embodied agents and downstream 3D vision tasks. These limitations mainly…
Vehicle detection and localization in complex traffic scenarios pose significant challenges due to the interference of moving objects. Traditional methods often rely on outlier exclusions or semantic segmentations, which suffer from low…
Precise pose estimation of optical microrobots is essential for enabling high-precision object tracking and autonomous biological studies. However, current methods rely heavily on large, high-quality microscope image datasets, which are…
This paper proposes a novel localization framework underpinned by a pinching-antenna (PA) system, in which the target location is estimated using received signal strength (RSS) measurements obtained from downlink signals transmitted by the…
Pinching Antennas (PAs) represent a revolutionary flexible antenna technology that leverages dielectric waveguides and electromagnetic coupling to mitigate large-scale path loss. This letter is the first to explore channel estimation for…
Reliable localization is critical for robot navigation in complex indoor environments. In this paper, we propose an uncertainty-aware localization method that enhances the reliability of localization outputs without modifying the prediction…
Underwater robot interventions require a high level of safety and reliability. A major challenge to address is a robust and accurate acquisition of localization estimates, as it is a prerequisite to enable more complex tasks, e.g. floating…
We develop a belief space planning (BSP) approach that advances the state of the art by incorporating reasoning about data association (DA) within planning, while considering additional sources of uncertainty. Existing BSP approaches…
Size, weight, and power constrained platforms impose constraints on computational resources that introduce unique challenges in implementing localization algorithms. We present a framework to perform fast localization on such platforms…
For safe operation, a robot must be able to avoid collisions in uncertain environments. Existing approaches for motion planning under uncertainties often assume parametric obstacle representations and Gaussian uncertainty, which can be…
Pinching-antenna systems (PASS) represent a promising customizable wireless access mechanism in high-frequency bands, enabled by dielectric waveguides and movable dielectric particles, called pinching antennas (PAs). In this work, we study…