相关论文: Real-Time Visual Localisation in a Tagged Environm…

A key limitation of current multi-robot systems is a lack of relative localization, particularly in environments without GPS or motion capture systems. This article presents a centralized method for relatively localizing a 2D swarm using…

We present a complete map management process for a visual localization system designed for multi-vehicle long- term operations in resource constrained outdoor environments. Outdoor visual localization generates large amounts of data that…

Navigation in unknown, chaotic environments continues to present a significant challenge for the robotics community. Lighting changes, self-similar textures, motion blur, and moving objects are all considerable stumbling blocks for…

High-quality labeled data is essential for training robust machine learning models, yet obtaining annotations at scale remains expensive. AI-assisted annotation has therefore become standard in large-scale labeling workflows. However, in…

Many works in collaborative robotics and human-robot interaction focuses on identifying and predicting human behaviour while considering the information about the robot itself as given. This can be the case when sensors and the robot are…

This paper presents the behaviour control of a service robot for intelligent object search in a domestic environment. A major challenge in service robotics is to enable fetch-and-carry missions that are satisfying for the user in terms of…

Accurate and robust visual localization under a wide range of viewing condition variations including season and illumination changes, as well as weather and day-night variations, is the key component for many computer vision and robotics…

Traditional place categorization approaches in robot vision assume that training and test images have similar visual appearance. Therefore, any seasonal, illumination and environmental changes typically lead to severe degradation in…

In this paper we introduce the problem of Visual Semantic Role Labeling: given an image we want to detect people doing actions and localize the objects of interaction. Classical approaches to action recognition either study the task of…

Humans can robustly follow a visual trajectory defined by a sequence of images (i.e. a video) regardless of substantial changes in the environment or the presence of obstacles. We aim at endowing similar visual navigation capabilities to…

Planning motions for two robot arms to move an object collaboratively is a difficult problem, mainly because of the closed-chain constraint, which arises whenever two robot hands simultaneously grasp a single rigid object. In this paper, we…

We consider a warehouse in which dozens of mobile robots and human pickers work together to collect and deliver items within the warehouse. The fundamental problem we tackle, called the order-picking problem, is how these worker agents must…

Object manipulation is a critical skill required for Embodied AI agents interacting with the world around them. Training agents to manipulate objects, poses many challenges. These include occlusion of the target object by the agent's arm,…

Two challenges for rescue robots are to detect human beings and to have an accurate positioning system. In indoor positioning, GPS receivers cannot be used due to the reflections or attenuation caused by obstacles. To detect human beings,…

Autonomous warehouses with mobile, rack-carrying robots are starting to become commonplace, with systems such as Amazon's Kiva and Swisslog's CarryPick already implemented in functional warehouses. Such warehouses however still require…

Visual servoing enables robots to precisely position their end-effector relative to a target object. While classical methods rely on hand-crafted features and thus are universally applicable without task-specific training, they often…

In this paper we focus on the challenging problem of place categorization and semantic mapping on a robot without environment-specific training. Motivated by their ongoing success in various visual recognition tasks, we build our system…

Visual search of relevant targets in the environment is a crucial robot skill. We propose a preliminary framework for the execution monitor of a robot task, taking care of the robot attitude to visually searching the environment for targets…

This paper addresses object perception applied to mobile robotics. Being able to perceive semantically meaningful objects in unstructured environments is a key capability in order to make robots suitable to perform high-level tasks in home…

Visual localization is the task of estimating the camera pose from which a given image was taken and is central to several 3D computer vision applications. With the rapid growth in the popularity of AR/VR/MR devices and cloud-based…