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Event cameras, often referred to as dynamic vision sensors, are groundbreaking sensors capable of capturing changes in light intensity asynchronously, offering exceptional temporal resolution and energy efficiency. These attributes make…
Event cameras are bio-inspired vision sensors that naturally capture the dynamics of a scene, filtering out redundant information. This paper presents a deep neural network approach that unlocks the potential of event cameras on a…
High-quality and challenging event stream datasets play an important role in the design of an efficient event-driven mechanism that mimics the brain. Although event cameras can provide high dynamic range and low-energy event stream data,…
In essence, successful grasp boils down to correct responses to multiple contact events between fingertips and objects. In most scenarios, tactile sensing is adequate to distinguish contact events. Due to the nature of high dimensionality…
In this work, we propose a new approach that combines data from multiple sensors for reliable obstacle avoidance. The sensors include two depth cameras and a LiDAR arranged so that they can capture the whole 3D area in front of the robot…
In this work, we present optical space imaging using an unconventional yet promising class of imaging devices known as neuromorphic event-based sensors. These devices, which are modeled on the human retina, do not operate with frames, but…
Robot simulation has been an essential tool for data-driven manipulation tasks. However, most existing simulation frameworks lack either efficient and accurate models of physical interactions with tactile sensors or realistic tactile…
Collaborative robots are being increasingly utilized in industrial production lines due to their efficiency and accuracy. However, the close proximity between humans and robots can pose safety risks due to the robot's high-speed movements…
The use of video-imaging data for in-line process monitoring applications has become more and more popular in the industry. In this framework, spatio-temporal statistical process monitoring methods are needed to capture the relevant…
Adverse weather conditions, particularly heavy snowfall, pose significant challenges to both human drivers and autonomous vehicles. Traditional image-based de-snowing methods often introduce hallucination artifacts as they rely solely on…
Autonomous flight of flapping-wing robots is a major challenge for robot perception. Most of the previous sense-and-avoid works have studied the problem of obstacle avoidance for flapping-wing robots considering only static obstacles. This…
Robotic manipulation has made significant advancements, with systems demonstrating high precision and repeatability. However, this remarkable precision often fails to translate into efficient manipulation of thin deformable objects. Current…
Enabled by large annotated datasets, tracking and segmentation of objects in videos has made remarkable progress in recent years. Despite these advancements, algorithms still struggle under degraded conditions and during fast movements.…
The increasing adoption of human-robot interaction presents opportunities for technology to positively impact lives, particularly those with visual impairments, through applications such as guide-dog-like assistive robotics. We present a…
Event-based cameras, inspired by the biological retina, have evolved into cutting-edge sensors distinguished by their minimal power requirements, negligible latency, superior temporal resolution, and expansive dynamic range. At present,…
Tactile predictive models can be useful across several robotic manipulation tasks, e.g. robotic pushing, robotic grasping, slip avoidance, and in-hand manipulation. However, available tactile prediction models are mostly studied for…
We develop a mixture procedure for multi-sensor systems to monitor data streams for a change-point that causes a gradual degradation to a subset of the streams. Observations are assumed to be initially normal random variables with known…
A shared grasp is a grasp formed by contacts between the manipulated object and both the robot hand and the environment. By trading off hand contacts for environmental contacts, a shared grasp requires fewer contacts with the hand, and…
We study gravitational pivoting, a constrained version of in-hand manipulation, where we aim to control the rotation of an object around the grip point of a parallel gripper. To achieve this, instead of controlling the gripper to avoid…
We present the first purely event-based method for face detection using the high temporal resolution of an event-based camera. We will rely on a new feature that has never been used for such a task that relies on detecting eye blinks. Eye…