Related papers: GS-NBV: a Geometry-based, Semantics-aware Viewpoin…
Active 3D reconstruction of moving objects requires selecting informative viewpoints while accounting for object motion uncertainty during the decision-to-execution delay. Existing methods address only parts of this problem: next-best-view…
Earth Observation Satellite Planning (EOSP) is a difficult optimization problem with considerable practical interest. A set of requested observations must be scheduled on an agile Earth observation satellite while respecting constraints on…
With the proliferation of small aerial vehicles, acquiring close up aerial imagery for high quality reconstruction of complex scenes is gaining importance. We present an adaptive view planning method to collect such images in an automated…
Navigation and localization of UAVs present a challenge when global navigation satellite systems (GNSS) are disrupted and unreliable. Traditional techniques, such as simultaneous localization and mapping (SLAM) and visual odometry (VO),…
Robotic harvesting in dense crop canopies requires effective interventions that depend not only on geometry, but also on explicit, direction-conditioned relations identifying which organs obstruct a target fruit. We present SG-DOR (Scene…
In this paper, we address the problem of adaptive path planning for accurate semantic segmentation of terrain using unmanned aerial vehicles (UAVs). The usage of UAVs for terrain monitoring and remote sensing is rapidly gaining momentum due…
Automating the packing of objects with robots is a key challenge in industrial automation, where efficient object perception plays a fundamental role. This paper focuses on scenarios where precise 3D reconstruction is not required,…
Automated and selective harvesting of fruits has become an important area of research, particularly due to challenges such as high costs and a shortage of seasonal labor in advanced economies. This paper focuses on 6D pose estimation of…
This paper presents an integrated system for performing precision harvesting missions using a legged harvester. Our harvester performs a challenging task of autonomous navigation and tree grabbing in a confined, GPS denied forest…
The integration of Unmanned Aerial Vehicles (UAVs) and Unmanned Ground Vehicles (UGVs) is increasingly central to the development of intelligent autonomous systems for applications such as search and rescue, environmental monitoring, and…
Automatic image cropping aims to extract the most visually salient regions while preserving essential composition elements. Traditional saliency-aware cropping methods optimize a single bounding box, making them ineffective for applications…
We study the generalized multidimensional bin packing problem (GVBP) that generalizes both geometric packing and vector packing. Here, we are given $n$ rectangular items where the $i^{\textrm{th}}$ item has width $w(i)$, height $h(i)$, and…
Bimanual manipulation requires reasoning about where to interact with an object and which arm should perform each action, a joint affordance localization and arm allocation problem that geometry-only planners cannot resolve without semantic…
Interest in agricultural robotics has increased considerably in recent years due to benefits such as improvement in productivity and labor reduction. However, current problems associated with unstructured environments make the development…
The scene perception, understanding, and simulation are fundamental techniques for embodied-AI agents, while existing solutions are still prone to segmentation deficiency, dynamic objects' interference, sensor data sparsity, and…
The successful implementation of vision-based navigation in agricultural fields hinges upon two critical components: 1) the accurate identification of key components within the scene, and 2) the identification of lanes through the detection…
3D Gaussian Splatting (3DGS) enables efficient rendering, yet accurate surface reconstruction remains challenging due to unreliable geometric supervision. Existing approaches predominantly rely on depth-based reprojection to infer…
While recent advances in neural radiance field enable realistic digitization for large-scale scenes, the image-capturing process is still time-consuming and labor-intensive. Previous works attempt to automate this process using the…
Autonomous robotic tasks require actively perceiving the environment to achieve application-specific goals. In this paper, we address the problem of positioning an RGB camera to collect the most informative images to represent an unknown…
Robust and accurate localization is critical for autonomous driving. Traditional GNSS-based localization methods suffer from signal occlusion and multipath effects in urban environments. Meanwhile, methods relying on high-definition (HD)…