Related papers: GlintMarkers: Spatial Perception on XR Eyewear usi…
Robotic grasp should be carried out in a real-time manner by proper accuracy. Perception is the first and significant step in this procedure. This paper proposes an improved pipeline model trying to detect grasp as a rectangle…
Precise calibration is a must for high reliance 3D computer vision algorithms. A challenging case is when the camera is behind a protective glass or transparent object: due to refraction, the image is heavily distorted; the pinhole camera…
Transparent objects are common in day-to-day life and hence find many applications that require robot grasping. Many solutions toward object grasping exist for non-transparent objects. However, due to the unique visual properties of…
Large language models (LLMs) and vision-language models (VLMs) have been increasingly used in robotics for high-level cognition, but their use for low-level cognition, such as interpreting sensor information, remains underexplored. In…
We present an abstract method in the setting of compact metric spaces which is applied to solve a number of problems in geometric optics. In particular, we solve the one source near field refraction problem. That is, we construct surfaces…
Near Infrared (NIR) spectroscopy is widely used in industrial quality control and automation to test the purity and grade of items. In this research, we propose a novel sensorized end effector and acquisition strategy to capture spectral…
We present a new learning-based framework to recover vehicle pose in SO(3) from a single RGB image. In contrast to previous works that map from local appearance to observation angles, we explore a progressive approach by extracting…
Accurate modeling of 3D objects exhibiting transparency, reflections and thin structures is an extremely challenging problem. Inspired by billboards and geometric proxies used in computer graphics, this paper proposes Generative Latent…
In this work a system for recognizing grasp points in RGB-D images is proposed. This system is intended to be used by a domestic robot when deploying clothes lying at a random position on a table. By taking into consideration that the grasp…
Modeling reflections from 2D images is essential for photorealistic rendering and novel view synthesis. Recent approaches enhance Gaussian primitives with reflection-related material attributes to enable physically based rendering (PBR)…
Human eye gaze estimation is an important cognitive ingredient for successful human-robot interaction, enabling the robot to read and predict human behavior. We approach this problem using artificial neural networks and build a modular…
Recent image-goal navigation (ImageNav) methods learn a perception-action policy by separately capturing semantic features of the goal and egocentric images, then passing them to a policy network. However, challenges remain: (1) Semantic…
We propose that astronomers will be eventually be able to discriminate between extrasolar Earth-like planets with surface oceans and those without using the shape of phase light curves in the visible and near-IR spectrum. We model the…
We propose a framework for compressive sensing of images with local distinguishable objects, such as stars, and apply it to solve a problem in celestial navigation. Specifically, let x be an N-pixel real-valued image, consisting of a small…
Autonomous vehicles rely on perception systems to understand their surroundings for further navigation missions. Cameras are essential for perception systems due to the advantages of object detection and recognition provided by modern…
We propose a novel method utilizing an objectness score for maintaining the locations and classes of objects detected from Mask R-CNN during mobile robot navigation. The objectness score is defined to measure how well the detector…
Current works focus on addressing the remote sensing change detection task using bi-temporal images. Although good performance can be achieved, however, seldom of they consider the motion cues which may also be vital. In this work, we…
Camera-based tactile sensors have shown great promise in enhancing a robot's ability to perform a variety of dexterous manipulation tasks. Advantages of their use can be attributed to the high resolution tactile data and 3D depth map…
We study the steering of visible light using a combination of magneto-optical effects and the reconfigurability of magnetic domains in Yttrium-Iron Garnet films. The spontaneously formed stripe domains are used as a field-controlled optical…
In the last few years, there has been a growing interest in taking advantage of the 360 panoramic images potential, while managing the new challenges they imply. While several tasks have been improved thanks to the contextual information…