Related papers: ViewActive: Active viewpoint optimization from a s…
This work creates a model of the value of different external viewpoints of a robot performing tasks. The current state of the practice is to use a teleoperated assistant robot to provide a view of a task being performed by a primary robot;…
Devising intelligent agents able to live in an environment and learn by observing the surroundings is a longstanding goal of Artificial Intelligence. From a bare Machine Learning perspective, challenges arise when the agent is prevented…
Classical Visual Servoing (VS) rely on handcrafted visual features, which limit their generalizability. Recently, a number of approaches, some based on Deep Neural Networks, have been proposed to overcome this limitation by comparing…
The human brain is a highly efficient processing unit, and understanding how it works can inspire new algorithms and architectures in machine learning. In this work, we introduce a novel framework named Brain Activation Network (BRACTIVE),…
Camera parameters not only play an important role in determining the visual quality of perceived images, but also affect the performance of vision algorithms, for a vision-guided robot. By quantitatively evaluating four object detection…
Recent advances in mapping techniques have enabled the creation of highly accurate dense 3D maps during robotic missions, such as point clouds, meshes, or NeRF-based representations. These developments present new opportunities for reusing…
Point clouds and RGB images are two general perceptional sources in autonomous driving. The former can provide accurate localization of objects, and the latter is denser and richer in semantic information. Recently, AutoAlign presents a…
Extending state-of-the-art object detectors from image to video is challenging. The accuracy of detection suffers from degenerated object appearances in videos, e.g., motion blur, video defocus, rare poses, etc. Existing work attempts to…
Vision-and-Language Navigation (VLN) empowers agents to associate time-sequenced visual observations with corresponding instructions to make sequential decisions. However, generalization remains a persistent challenge, particularly when…
Visual servoing technology has been well developed and applied in many automated manufacturing tasks, especially in tools' pose alignment. To access a full global view of tools, most applications adopt eye-to-hand configuration or…
Active perception describes a broad class of techniques that couple planning and perception systems to move the robot in a way to give the robot more information about the environment. In most robotic systems, perception is typically…
Efficiently and completely capturing the three-dimensional data of an object is a fundamental problem in industrial and robotic applications. The task of next-best-view (NBV) planning is to infer the pose of the next viewpoint based on the…
This paper presents Neural Visibility Field (NVF), a novel uncertainty quantification method for Neural Radiance Fields (NeRF) applied to active mapping. Our key insight is that regions not visible in the training views lead to inherently…
Event-based cameras are neuromorphic sensors capable of efficiently encoding visual information in the form of sparse sequences of events. Being biologically inspired, they are commonly used to exploit some of the computational and power…
Building robotic agents capable of operating across diverse environments and object types remains a significant challenge, often requiring extensive data collection. This is particularly restrictive in robotics, where each data point must…
In this paper, we tackle the problem of active robotic 3D reconstruction of an object. In particular, we study how a mobile robot with an arm-held camera can select a favorable number of views to recover an object's 3D shape efficiently.…
Autonomous motion capture (mocap) systems for outdoor scenarios involving flying or mobile cameras rely on i) a robotic front-end to track and follow a human subject in real-time while he/she performs physical activities, and ii) an…
As robots operate in increasingly complex and dynamic environments, fast motion re-planning has become a widely explored area of research. In a real-world deployment, we often lack the ability to fully observe the environment at all times,…
Multi-view data capture permits free-viewpoint video (FVV) content creation. To this end, several users must capture video streams, calibrated in both time and pose, framing the same object/scene, from different viewpoints. New-generation…
Immersive video offers the freedom to navigate inside virtualized environment. Instead of streaming the bulky immersive videos entirely, a viewport (also referred to as field of view, FoV) adaptive streaming is preferred. We often stream…