相关论文: Plane-Casting: 3D Cursor Control with a SmartPhone

This work presents a flexible system to reconstruct 3D models of objects captured with an RGB-D sensor. A major advantage of the method is that our reconstruction pipeline allows the user to acquire a full 3D model of the object. This is…

Capturing and re-animating the 3D structure of articulated objects present significant barriers. On one hand, methods requiring extensively calibrated multi-view setups are prohibitively complex and resource-intensive, limiting their…

Many man-made objects are characterised by a shape that is symmetric along one or more planar directions. Estimating the location and orientation of such symmetry planes can aid many tasks such as estimating the overall orientation of an…

Purpose. This paper explores the capability of smartphones as computing devices for a quadcopter, specifically in terms of the ability of drones to maintain a position known as the position hold function. Image processing can be performed…

The paper discusses a novel vision-based estimation and control approach to enable fully autonomous tracking and landing of vertical take-off and landing (VTOL) capable unmanned aerial vehicles (UAVs) on moving platforms without relying on…

Contrary to the stunning feats observed in birds of prey, aerial manipulation and grasping with flying robots still lack versatility and agility. Conventional approaches using rigid manipulators require precise positioning and are subject…

We propose a method to track the 6D pose of an object over time, while the object is under non-prehensile manipulation by a robot. At any given time during the manipulation of the object, we assume access to the robot joint controls and an…

We propose TRADE for robust tracking and 3D localization of a moving target in cluttered environments, from UAVs equipped with a single camera. Ultimately TRADE enables 3d-aware target following. Tracking-by-detection approaches are…

Creating 3D maps on robots and other mobile devices has become a reality in recent years. Online 3D reconstruction enables many exciting applications in robotics and AR/VR gaming. However, the reconstructions are noisy and generally…

A variety of applications are emerging to support streaming video from mobile devices. However, many tasks can benefit from streaming specific content rather than the full video feed which may include irrelevant, private, or distracting…

Autonomous Unmanned Aerial Manipulators (UAMs) have shown promising potentials to transform passive sensing missions into active 3-dimension interactive missions, but they still suffer from some difficulties impeding their wide…

In this paper, we present a new approach to visual servoing for robotics, referred to as 3D Move to See (3DMTS), based on the principle of finding the next best view using a 3D camera array and a robotic manipulator to obtain multiple…

In this paper, we propose a new modeling approach and a fast algorithm for 3D motion planning, applicable for fixed-wing unmanned aerial vehicles. The goal is to construct the shortest path connecting given initial and final configurations…

Humans can effortlessly anticipate how objects might move or change through interaction--imagining a cup being lifted, a knife slicing, or a lid being closed. We aim to endow computational systems with a similar ability to predict plausible…

We present a new approach to transfer grasp configurations from prior example objects to novel objects. We assume the novel and example objects have the same topology and similar shapes. We perform 3D segmentation on these objects using…

Multi-object 3D Grounding involves locating 3D boxes based on a given query phrase from a point cloud. It is a challenging and significant task with numerous applications in visual understanding, human-computer interaction, and robotics. To…

This paper introduces DextAIRity, an approach to manipulate deformable objects using active airflow. In contrast to conventional contact-based quasi-static manipulations, DextAIRity allows the system to apply dense forces on out-of-contact…

Robot-to-human handovers often rely on static, open-loop strategies (or, at best, approaches that adapt only the position), which generally do not consider how the object will be grasped by the human, thus requiring the user to adapt. This…

This work aims to leverage instructional video to solve complex multi-step task-and-motion planning tasks in robotics. Towards this goal, we propose an extension of the well-established Rapidly-Exploring Random Tree (RRT) planner, which…

Long-horizon planning for robot manipulation is a challenging problem that requires reasoning about the effects of a sequence of actions on a physical 3D scene. While traditional task planning methods are shown to be effective for…