Related papers: FusionSense: Bridging Common Sense, Vision, and To…
Combining 3D vision with tactile sensing could unlock a greater level of dexterity for robots and improve several manipulation tasks. However, obtaining a close-up 3D view of the location where manipulation contacts occur can be…
Surface reconstruction has been widely studied in computer vision and graphics. However, existing surface reconstruction works struggle to recover accurate scene geometry when the input views are extremely sparse. To address this issue, we…
In indoor environments, multi-robot visual (RGB-D) mapping and exploration hold immense potential for application in domains such as domestic service and logistics, where deploying multiple robots in the same environment can significantly…
As automation technologies advance, the need for compact and multi-modal sensors in robotic applications is growing. To address this demand, we introduce CompdVision, a novel sensor that employs a compound-eye imaging system to combine…
The sense of touch plays a key role in enabling humans to understand and interact with surrounding environments. For robots, tactile sensing is also irreplaceable. While interacting with objects, tactile sensing provides useful information…
Reconstructing and semantically interpreting 3D scenes from sparse 2D views remains a fundamental challenge in computer vision. Conventional methods often decouple semantic understanding from reconstruction or necessitate costly per-scene…
We present ConFusion, an open-source package for online sensor fusion for robotic applications. ConFusion is a modular framework for fusing measurements from many heterogeneous sensors within a moving horizon estimator. ConFusion offers…
With the growing interest in autonomous driving, there is an increasing demand for accurate and reliable road perception technologies. In complex environments without high-definition map support, autonomous vehicles must independently…
Sparse-view 3D reconstruction is a major challenge in computer vision, aiming to create complete three-dimensional models from limited viewing angles. Key obstacles include: 1) a small number of input images with inconsistent information;…
Tactile sensing is a fundamental modality for embodied intelligence, offering unique and direct feedback on contact geometry, material properties, and interaction dynamics that remote sensors cannot replace. However, unimodal tactile…
A comprehensive understanding of 3D scenes is crucial in autonomous vehicles (AVs), and recent models for 3D semantic occupancy prediction have successfully addressed the challenge of describing real-world objects with varied shapes and…
Humans usually perceive the world in a multimodal way that vision, touch, sound are utilised to understand surroundings from various dimensions. These senses are combined together to achieve a synergistic effect where the learning is more…
Scene reconstruction has emerged as a central challenge in computer vision, with approaches such as Neural Radiance Fields (NeRF) and Gaussian Splatting achieving remarkable progress. While Gaussian Splatting demonstrates strong performance…
Tactile perception is crucial for embodied intelligent robots to recognize objects. Vision-based tactile sensors extract object physical attributes multidimensionally using high spatial resolution; however, this process generates abundant…
Humans build 3D understandings of the world through active object exploration, using jointly their senses of vision and touch. However, in 3D shape reconstruction, most recent progress has relied on static datasets of limited sensory data…
The integration of language and 3D perception is critical for embodied AI and robotic systems to perceive, understand, and interact with the physical world. Spatial reasoning, a key capability for understanding spatial relationships between…
Collaborative visual perception methods have gained widespread attention in the autonomous driving community in recent years due to their ability to address sensor limitation problems. However, the absence of explicit depth information…
Online semantic 3D segmentation in company with real-time RGB-D reconstruction poses special challenges such as how to perform 3D convolution directly over the progressively fused 3D geometric data, and how to smartly fuse information from…
In this work, we propose a novel method to supervise 3D Gaussian Splatting (3DGS) scenes using optical tactile sensors. Optical tactile sensors have become widespread in their use in robotics for manipulation and object representation;…
Perception for automated driving is largely based on onboard environmental sensors, such as cameras and radar, which are cost-effective but limited by line-of-sight and field-of-view constraints. These inherent limitations may cause onboard…