Related papers: Object State Estimation Through Robotic Active Int…
Object detection is a computer vision task that has become an integral part of many consumer applications today such as surveillance and security systems, mobile text recognition, and diagnosing diseases from MRI/CT scans. Object detection…
Ego-pose estimation and dynamic object tracking are two key issues in an autonomous driving system. Two assumptions are often made for them, i.e. the static world assumption of simultaneous localization and mapping (SLAM) and the exact…
Brain computer interface is the current area of research to provide assistance to disabled persons. To cope up with the growing needs of BCI applications, this paper presents an automated classification scheme for handgrip actions on…
Being able to grasp objects is a fundamental component of most robotic manipulation systems. In this paper, we present a new approach to simultaneously reconstruct a mesh and a dense grasp quality map of an object from a depth image. At the…
This paper considers the problem of active object recognition using touch only. The focus is on adaptively selecting a sequence of wrist poses that achieves accurate recognition by enclosure grasps. It seeks to minimize the number of…
The ability to estimate invertebrate biomass using only images could help scaling up quantitative biodiversity monitoring efforts. Computer vision-based methods have the potential to omit the manual, time-consuming, and destructive process…
Autonomous excavation is a challenging task. The unknown contact dynamics between the excavator bucket and the terrain could easily result in large contact forces and jamming problems during excavation. Traditional model-based methods…
We explore the problem of estimating the mass distribution of an articulated object by an interactive robotic agent. Our method predicts the mass distribution of an object by using the limited sensing and actuating capabilities of a robotic…
Sensor-based Human Activity Recognition facilitates unobtrusive monitoring of human movements. However, determining the most effective sensor placement for optimal classification performance remains challenging. This paper introduces a…
For Minimally Invasive Surgical (MIS) robots, accurate haptic interaction force feedback is essential for ensuring the safety of interacting with soft tissue. However, most existing MIS robotic systems cannot facilitate direct measurement…
This paper presents a generic motion model to capture mobile robots' dynamic behaviors (translation and rotation). The model is based on statistical models driven by white random processes and is formulated into a full state estimation…
State-of-the-art object pose estimation methods are prone to generating geometrically infeasible pose hypotheses. This problem is prevalent in dexterous manipulation, where estimated poses often intersect with the robotic hand or are not…
Locating and grasping of objects by robots is typically performed using visual sensors. Haptic feedback from contacts with the environment is only secondary if present at all. In this work, we explored an extreme case of searching for and…
For certain manipulation tasks, object pose estimation from head-mounted cameras may not be sufficiently accurate. This is at least in part due to our inability to perfectly calibrate the coordinate frames of today's high degree of freedom…
We present a method for the efficient processing of contact and collision in volumetric elastic models simulated using the Projective Dynamics paradigm. Our approach enables interactive simulation of tetrahedral meshes with more than half a…
Robotic ultrasound (US) imaging has been seen as a promising solution to overcome the limitations of free-hand US examinations, i.e., inter-operator variability. However, the fact that robotic US systems cannot react to subject movements…
Legged robots, specifically quadrupeds, are becoming increasingly attractive for industrial applications such as inspection. However, to leave the laboratory and to become useful to an end user requires reliability in harsh conditions. From…
We studied the long-term dynamics of evolutionary Swarm Chemistry by extending the simulation length ten-fold compared to earlier work and by developing and using a new automated object harvesting method. Both macroscopic dynamics and…
The cost of drawing object bounding boxes (i.e. labeling) for millions of images is prohibitively high. For instance, labeling pedestrians in a regular urban image could take 35 seconds on average. Active learning aims to reduce the cost of…
In response to the increasing demand for cardiocerebrovascular interventional surgeries, precise control of interventional robots has become increasingly important. Within these complex vascular scenarios, the accurate and reliable…