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Ground segmentation is crucial for terrestrial mobile platforms to perform navigation or neighboring object recognition. Unfortunately, the ground is not flat, as it features steep slopes; bumpy roads; or objects, such as curbs, flower…
Ensuring the safe and reliable operation of collaborative robots demands robust sensor diagnostics. This paper introduces a methodology for formulating model-based constraints tailored for sensor diagnostics, featuring analytical…
Efficient representation of articulated objects such as human bodies is an important problem in computer vision and graphics. To efficiently simulate deformation, existing approaches represent 3D objects using polygonal meshes and deform…
When pixel-level masks or partial annotations are not available for training neural networks for semantic segmentation, it is possible to use higher-level information in the form of bounding boxes, or image tags. In the imaging sciences,…
Camouflaged objects are typically assimilated into their backgrounds and exhibit fuzzy boundaries. The complex environmental conditions and the high intrinsic similarity between camouflaged targets and their surroundings pose significant…
Human skin segmentation is a crucial task in computer vision and biometric systems, yet it poses several challenges such as variability in skin color, pose, and illumination. This paper presents a robust data-driven skin segmentation method…
Robust localization in a given map is a crucial component of most autonomous robots. In this paper, we address the problem of localizing in an indoor environment that changes and where prominent structures have no correspondence in the map…
3D object detection is a central task for applications such as autonomous driving, in which the system needs to localize and classify surrounding traffic agents, even in the presence of adverse weather. In this paper, we address the problem…
While much progress has been made on the task of 3D point cloud registration, there still exists no learning-based method able to estimate the 6D pose of an object observed by a 2.5D sensor in a scene. The challenges of this scenario…
Geometric navigation is nowadays a well-established field of robotics and the research focus is shifting towards higher-level scene understanding, such as Semantic Mapping. When a robot needs to interact with its environment, it must be…
Collaborative robots are becoming more common on factory floors as well as regular environments, however, their safety still is not a fully solved issue. Collision detection does not always perform as expected and collision avoidance is…
We propose a fully automatic method for fitting a 3D morphable model to single face images in arbitrary pose and lighting. Our approach relies on geometric features (edges and landmarks) and, inspired by the iterated closest point…
An appropriate user interface to collect human demonstration data for deformable object manipulation has been mostly overlooked in the literature. We present an interaction design for demonstrating cloth folding to robots. Users choose pick…
Dents on the aircraft skin are frequent and may easily go undetected during airworthiness checks, as their inspection process is tedious and extremely subject to human factors and environmental conditions. Nowadays, 3D scanning technologies…
The design of localization systems for small-scale flapping-wing aerial robots faces relevant challenges caused by the limited payload and onboard computational resources. This paper presents an ultra-wideband localization system…
Manipulating articulated objects with robotic arms is challenging due to the complex kinematic structure, which requires precise part segmentation for efficient manipulation. In this work, we introduce a novel superpoint-based perception…
We present a method for determining the unknown location of a sensor placed in a known 2D environment in the presence of unknown dynamic obstacles, using only few distance measurements. We present guarantees on the quality of the…
One of the most important aspects of autonomous systems is safety. This includes ensuring safe human-robot and safe robot-environment interaction when autonomously performing complex tasks or in collaborative scenarios. Although several…
Monocular 3D Object Detection represents a challenging Computer Vision task due to the nature of the input used, which is a single 2D image, lacking in any depth cues and placing the depth estimation problem as an ill-posed one. Existing…
Reliable segmentation of road lines and markings is critical to autonomous driving. Our work is motivated by the observations that road lines and markings are (1) frequently occluded in the presence of moving vehicles, shadow, and glare and…