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Distributed tactile sensing for multi-force detection is crucial for various aerial robot interaction tasks. However, current contact sensing solutions on drones only exploit single end-effector sensors and cannot provide distributed…
An optical rotary sensor based on laser self-mixing interferometry is proposed, which enables noncontact and full-circle rotation measurement of non-cooperative targets with high resolution and sensitivity. The prototype demonstrates that…
This paper proposes a controller for stable grasping of unknown-shaped objects by two robotic fingers with tactile fingertips. The grasp is stabilised by rolling the fingertips on the contact surface and applying a desired grasping force to…
We present a novel recursive Bayesian estimation framework using B-splines for continuous-time 6-DoF dynamic motion estimation. The state vector consists of a recurrent set of position control points and orientation control point…
The presence of post-stroke grasping deficiencies highlights the critical need for the development and implementation of advanced compensatory strategies. This paper introduces a novel system to aid chronic stroke survivors through the…
Detection of slip during object grasping and manipulation plays a vital role in object handling. Existing solutions primarily rely on visual information to devise a strategy for grasping. However, for robotic systems to attain a level of…
Tactile sensing can enable robots to perform complex, contact-rich tasks. Magnetic sensors offer accurate three-axis force measurements while using affordable materials. Calibrating such a sensor involves either manual data collection, or…
Reconstructing urban street scenes is crucial due to its vital role in applications such as autonomous driving and urban planning. These scenes are characterized by long and narrow camera trajectories, occlusion, complex object…
Perception in 3D has become standard practice for a large part of robotics applications. High quality 3D perception is costly. Our previous work on a nodding 2D Lidar provides high quality 3D depth information with low cost, but the sparse…
3D Gaussian Splatting (3DGS) has become an emerging tool for dynamic scene reconstruction. However, existing methods focus mainly on extending static 3DGS into a time-variant representation, while overlooking the rich motion information…
The sense of touch is fundamental to human dexterity. When mimicked in robotic touch, particularly by use of soft optical tactile sensors, it suffers from distortion due to motion-dependent shear. This complicates tactile tasks like shape…
Real-time 3D reconstruction is a fundamental task in computer graphics. Recently, differentiable-rendering-based SLAM system has demonstrated significant potential, enabling photorealistic scene rendering through learnable scene…
The emergence of neural and Gaussian-based radiance field methods has led to considerable advancements in novel view synthesis and 3D object reconstruction. Nonetheless, specular reflection and refraction continue to pose significant…
We present 3D Surface Splatting (3DSS), the first differentiable surface splatting renderer for physically-based inverse rendering from multi-view images. Our central insight is that the surface separation problem at the heart of surface…
Surface inspection is a delicate process aimed at detecting fine defects, irregularities, and foreign substances at the tens of micrometers level, subsequently excluding products that do not meet the quality standards as defective.…
Reconstructing models of the real world, including 3D geometry, appearance, and motion of real scenes, is essential for computer graphics and computer vision. It enables the synthesizing of photorealistic novel views, useful for the movie…
360-degree visual content is widely shared on platforms such as YouTube and plays a central role in virtual reality, robotics, and autonomous navigation. However, consumer-grade dual-fisheye systems consistently yield imperfect panoramas…
Accurate shape reconstruction of transparent objects is a challenging task due to their non-Lambertian surfaces and yet necessary for robots for accurate pose perception and safe manipulation. As vision-based sensing can produce erroneous…
Compliance is a critical parameter for describing objects in engineering, agriculture, and biomedical applications. Traditional compliance detection methods are limited by their lack of portability and scalability, rely on specialized,…
Nonlinear optics underpins a broad range of photonic technologies, from classical and quantum light sources to emerging nonlinear photonic neural networks. Yet, conventional nonlinear optical devices exhibit static functionality: their…