相关论文: Optimizing Gaze Direction in a Visual Navigation T…

Highly accurate real-time localization is of fundamental importance for the safety and efficiency of planetary rovers exploring the surface of Mars. Mars rover operations rely on vision-based systems to avoid hazards as well as plan safe…

Visual perception is an important component for autonomous navigation of unmanned surface vessels (USV), particularly for the tasks related to autonomous inspection and tracking. These tasks involve vision-based navigation techniques to…

Reliable obstacle avoidance in industrial settings demands 3D scene understanding, but widely used 2D LiDAR sensors perceive only a single horizontal slice of the environment, missing critical obstacles above or below the scan plane. We…

A crucial ability of mobile intelligent agents is to integrate the evidence from multiple sensory inputs in an environment and to make a sequence of actions to reach their goals. In this paper, we attempt to approach the problem of…

Imitation learning has demonstrated significant potential in performing high-precision manipulation tasks using visual feedback. However, it is common practice in imitation learning for cameras to be fixed in place, resulting in issues like…

Gaze is a crucial social cue in any interacting scenario and drives many mechanisms of social cognition (joint and shared attention, predicting human intention, coordination tasks). Gaze direction is an indication of social and emotional…

Autonomous robots operating in large knowledgeintensive domains require planning in the discrete (task) space and the continuous (motion) space. In knowledge-intensive domains, on the one hand, robots have to reason at the highestlevel, for…

When robots are able to see and respond to their surroundings, a whole new world of possibilities opens up. To bring these possibilities to life, the robotics industry is increasingly adopting camera-based vision systems, especially when a…

In this paper, we present an active visual SLAM approach for omnidirectional robots. The goal is to generate control commands that allow such a robot to simultaneously localize itself and map an unknown environment while maximizing the…

We propose to take a novel approach to robot system design where each building block of a larger system is represented as a differentiable program, i.e. a deep neural network. This representation allows for integrating algorithmic planning…

Visual motion estimation is a well-studied challenge in autonomous navigation. Recent work has focused on addressing multimotion estimation in highly dynamic environments. These environments not only comprise multiple, complex motions but…

Autonomous systems often have logical constraints arising, for example, from safety, operational, or regulatory requirements. Such constraints can be expressed using temporal logic specifications. The system state is often partially…

Collaborative multi-robot perception provides multiple views of an environment, offering varying perspectives to collaboratively understand the environment even when individual robots have poor points of view or when occlusions are caused…

What do humans do when confronted with a common challenge: we know where we want to go but we are not yet sure the best way to get there, or even if we can. This is the problem posed to agents during spatial navigation and pathfinding, and…

Collision detection via visual fences can significantly enhance the safety of collaborative robotic arms. Existing work typically performs such detection based on pre-deployed stationary cameras outside the robotic arm's workspace. These…

Visual target navigation is a critical capability for autonomous robots operating in unknown environments, particularly in human-robot interaction scenarios. While classical and learning-based methods have shown promise, most existing…

One of the major challenges of a real-time autonomous robotic system for construction monitoring is to simultaneously localize, map, and navigate over the lifetime of the robot, with little or no human intervention. Past research on…

How should a robot direct active vision so as to ensure reliable grasping? We answer this question for the case of dexterous grasping of unfamiliar objects. By dexterous grasping we simply mean grasping by any hand with more than two…

Visually-guided underwater robots are deployed alongside human divers for cooperative exploration, inspection, and monitoring tasks in numerous shallow-water and coastal-water applications. The most essential capability of such companion…

Visual sensor networks are used for monitoring traffic in large cities and are promised to support automated driving in complex road segments. The pose of these sensors, i.e. position and orientation, directly determines the coverage of the…