Related papers: RadarEye: Robust Liquid Level Tracking Using mmWav…
In this paper, we focus on the challenging perception problem in robotic pouring. Most of the existing approaches either leverage visual or haptic information. However, these techniques may suffer from poor generalization performances on…
Robotic assistants in a home environment are expected to perform various complex tasks for their users. One particularly challenging task is pouring drinks into cups, which for successful completion, requires the detection and tracking of…
Liquid perception is critical for robotic pouring tasks. It usually requires the robust visual detection of flowing liquid. However, while recent works have shown promising results in liquid perception, they typically require labeled data…
With the growing emphasis on the development and integration of service robots within household environments, we will need to endow robots with the ability to reliably pour a variety of liquids. However, liquid handling and pouring is a…
Millimeter-wave (mmWave) technology is increasingly recognized as a pivotal technology of the sixth-generation communication networks due to the large amounts of available spectrum at high frequencies. However, the huge overhead associated…
Liquid state estimation is important for robotics tasks such as pouring; however, estimating the state of transparent liquids is a challenging problem. We propose a novel segmentation pipeline that can segment transparent liquids such as…
Millimeter-wave (mmWave) radar is increasingly being considered as an alternative to optical sensors for robotic primitives like simultaneous localization and mapping (SLAM). While mmWave radar overcomes some limitations of optical sensors,…
Robust and accurate estimation of liquid height lies as an essential part of pouring tasks for service robots. However, vision-based methods often fail in occluded conditions while audio-based methods cannot work well in a noisy…
We survey the current state of millimeterwave (mmWave) radar applications in robotics with a focus on unique capabilities, and discuss future opportunities based on the state of the art. Frequency Modulated Continuous Wave (FMCW) mmWave…
Plant sensing plays an important role in modern smart agriculture and the farming industry. Remote radio sensing allows for monitoring essential indicators of plant health, such as leaf water content. While recent studies have shown the…
Humans have the amazing ability to perform very subtle manipulation task using a closed-loop control system with imprecise mechanics (i.e., our body parts) but rich sensory information (e.g., vision, tactile, etc.). In the closed-loop…
Water level monitoring is critical for flood management, water resource allocation, and ecological assessment, yet traditional methods remain costly and limited in coverage. This work explores radar-based sensing as a low-cost alternative…
Millimeter-wave (mmWave) radar enables contactless respiratory sensing,yet fine-grained monitoring is often degraded by nonstationary interference from body micromotions.To achieve micromotion interference removal,we propose…
Millimetre-wave (mmWave) radars can generate 3D point clouds to represent objects in the scene. However, the accuracy and density of the generated point cloud can be lower than a laser sensor. Although researchers have used mmWave radars…
Pouring a specific amount of liquid is a challenging task. In this paper we develop methods for robots to use visual feedback to perform closed-loop control for pouring liquids. We propose both a model-based and a model-free method…
The robust estimation of the mounting angle for millimeter-wave automotive radars installed on moving vehicles is investigated. We propose a novel signal processing pipeline that combines radar and inertial measurement unit (IMU) data to…
Human motion sensing plays a crucial role in smart systems for decision-making, user interaction, and personalized services. Extensive research that has been conducted is predominantly based on cameras, whose intrusive nature limits their…
Millimeter-wave (mmWave) radar provides reliable perception in visually degraded indoor environments (e.g., smoke, dust, and low light), but learning-based radar perception is bottlenecked by the scarcity and cost of collecting and…
Millimeter wave (mmWave) radars have attracted significant attention from both academia and industry due to their capability to operate in extreme weather conditions. However, they face challenges in terms of sparsity and noise…
In this work we present a dedicated experimental facility and an image-based method for measuring water depth in a radially spreading dam-break wave propagating over a horizontal plane. The facility consists of a prismatic reservoir…