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Human pose estimation, particularly in athletes, can help improve their performance. However, this estimation is difficult using existing methods, such as human annotation, if the subjects wear loose-fitting clothes such as ski/snowboard…
In contrast to conventional robots, accurately modeling the kinematics and statics of continuum robots is challenging due to partially unknown material properties, parasitic effects, or unknown forces acting on the continuous body.…
Object pose estimation is a core perception task that enables, for example, object grasping and scene understanding. The widely available, inexpensive and high-resolution RGB sensors and CNNs that allow for fast inference based on this…
Many works in collaborative robotics and human-robot interaction focuses on identifying and predicting human behaviour while considering the information about the robot itself as given. This can be the case when sensors and the robot are…
Topological localization is a fundamental problem in mobile robotics, since robots must be able to determine their position in order to accomplish tasks. Visual localization and place recognition are challenging due to perceptual ambiguity,…
We present a multimodal traffic light state detection using vision and sound, from the viewpoint of a quadruped robot navigating in urban settings. This is a challenging problem because of the visual occlusions and noise from robot…
Accurate 6D object pose estimation is fundamental to robotic manipulation and grasping. Previous methods follow a local optimization approach which minimizes the distance between closest point pairs to handle the rotation ambiguity of…
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…
We present an approach for estimating the pose of an external camera with respect to a robot using a single RGB image of the robot. The image is processed by a deep neural network to detect 2D projections of keypoints (such as joints)…
Autonomous robotic systems applied to new domains require an abundance of expensive, pixel-level dense labels to train robust semantic segmentation models under full supervision. This study proposes a model-agnostic Depth Edge Alignment…
This paper presents a novel approach to fall prediction for bipedal robots, specifically targeting the detection of potential falls while standing caused by abrupt, incipient, and intermittent faults. Leveraging a 1D convolutional neural…
Robotic eye-in-hand calibration is the task of determining the rigid 6-DoF pose of the camera with respect to the robot end-effector frame. In this paper, we formulate this task as a non-linear optimization problem and introduce an active…
Creating mobile robots which are able to find and manipulate objects in large environments is an active topic of research. These robots not only need to be capable of searching for specific objects but also to estimate their poses often…
Anomaly detection is a core capability for robotic perception and industrial inspection, yet most existing benchmarks are collected under controlled conditions with fixed viewpoints and stable illumination, failing to reflect real…
We present a solution to egocentric 3D body pose estimation from monocular images captured from downward looking fish-eye cameras installed on the rim of a head mounted VR device. This unusual viewpoint leads to images with unique visual…
Multi-agent cooperative perception is an increasingly popular topic in the field of autonomous driving, where roadside LiDARs play an essential role. However, how to optimize the placement of roadside LiDARs is a crucial but often…
Pose estimation of a robot arm from visual inputs is a challenging task. However, with the increasing adoption of robot arms for both industrial and residential use cases, reliable joint angle estimation can offer improved safety and…
This article studies the problem of distributed formation control for multiple robots by using onboard ultra wide band (UWB) distance and inertial odometer (IO) measurements. Although this problem has been widely studied, a fundamental…
The assembly of printed circuit boards (PCBs) is one of the standard processes in chip production, directly contributing to the quality and performance of the chips. In the automated PCB assembly process, machine vision and coordinate…
Applications that interact with the real world such as augmented reality or robot manipulation require a good understanding of the location and pose of the surrounding objects. In this paper, we present a new approach to estimate the 6…