Related papers: Paparazzo: Active Mapping of Moving 3D Objects
Mobile autonomy relies on the precise perception of dynamic environments. Robustly tracking moving objects in 3D world thus plays a pivotal role for applications like trajectory prediction, obstacle avoidance, and path planning. While most…
Augmented reality (AR) has gained increasingly attention from both research and industry communities. By overlaying digital information and content onto the physical world, AR enables users to experience the world in a more informative and…
Object shape provides important information for robotic manipulation; for instance, selecting an effective grasp depends on both the global and local shape of the object of interest, while reaching into clutter requires accurate surface…
Accurate localization is a critical requirement for most robotic tasks. The main body of existing work is focused on passive localization in which the motions of the robot are assumed given, abstracting from their influence on sampling…
Acquiring 3D geometry of real world objects has various applications in 3D digitization, such as navigation and content generation in virtual environments. Image remains one of the most popular media for such visual tasks due to its…
Controlling humanoids in complex physically simulated worlds is a long-standing challenge with numerous applications in gaming, simulation, and visual content creation. In our setup, given a rich and complex 3D scene, the user provides a…
Image editing approaches have become more powerful and flexible with the advent of powerful text-conditioned generative models. However, placing objects in an environment with a precise location and orientation still remains a challenge, as…
Estimating the relative pose of a new object without prior knowledge is a hard problem, while it is an ability very much needed in robotics and Augmented Reality. We present a method for tracking the 6D motion of objects in RGB video…
Real-time detection of moving objects is an essential capability for robots acting autonomously in dynamic environments. We thus propose Dynablox, a novel online mapping-based approach for robust moving object detection in complex…
Safe UAV navigation is challenging due to the complex environment structures, dynamic obstacles, and uncertainties from measurement noises and unpredictable moving obstacle behaviors. Although plenty of recent works achieve safe navigation…
Traditional approaches for active mapping focus on building geometric maps. For most real-world applications, however, actionable information is related to semantically meaningful objects in the environment. We propose an approach to the…
Mobile robots dedicated in security tasks should be capable of clearly perceiving their environment to competently navigate within cluttered areas, so as to accomplish their assigned mission. The paper in hand describes such an autonomous…
Path Planning and target searching in a three-dimensional environment is a challenging task in the field of robotics. It is an optimization problem as the path from source to destination has to be optimal. This paper aims to generate a…
Information gathering algorithms play a key role in unlocking the potential of robots for efficient data collection in a wide range of applications. However, most existing strategies neglect the fundamental problem of the robot pose…
The purpose of this paper is to explore a new way of autonomous mapping. Current systems using perception techniques like LAZER or SONAR use probabilistic methods and have a drawback of allowing considerable uncertainty in the mapping…
Understanding the geometric relationships between objects in a scene is a core capability in enabling both humans and autonomous agents to navigate in new environments. A sparse, unified representation of the scene topology will allow…
In this work, we propose an attention-based deep reinforcement learning approach to address the adaptive informative path planning (IPP) problem in 3D space, where an aerial robot equipped with a downward-facing sensor must dynamically…
Despite recent progress improving the efficiency and quality of motion planning, planning collision-free and dynamically-feasible trajectories in partially-mapped environments remains challenging, since constantly replanning as unseen…
Object surface reconstruction brings essential benefits to robot grasping, object recognition, and object manipulation. When measuring the surface distribution of an unknown object by tapping, the greatest challenge is to select tapping…
Given a demonstration of a complex manipulation task, such as pouring liquid from one container to another, we seek to generate a motion plan for a new task instance involving objects with different geometries. This is nontrivial since we…