相关论文: Classification of Household Materials via Spectros…

The analysis of high spectral resolution spectroscopic and spectropolarimetric observations constitute a very powerful way of inferring the dynamical, thermodynamical, and magnetic properties of distant objects. However, these techniques…

In order to meaningfully interact with the world, robot manipulators must be able to interpret objects they encounter. A critical aspect of this interpretation is pose estimation: inferring quantities that describe the position and…

As robots become increasingly integrated into everyday tasks, their ability to perceive both the shape and properties of objects during in-hand manipulation becomes critical for adaptive and intelligent behavior. We present SemanticFeels,…

In this paper, we present a technique for estimating the geometry and reflectance of objects using only a camera, flashlight, and optionally a tripod. We propose a simple data capture technique in which the user goes around the object,…

Mobile robots rely on maps to navigate through an environment. In the absence of any map, the robots must build the map online from partial observations as they move in the environment. Traditional methods build a map using only direct…

Semantic segmentation is a process of partitioning an image into multiple segments for recognizing humans and objects, which can be widely applied in scenarios such as healthcare and safety monitoring. To avoid privacy violation, using RF…

Light passing through scattering media will be strongly scattered and diffused into complex speckle pattern, which contains almost all the spatial information and spectral information of the objects. Although various methods have been…

Robots operating in domestic environments generally need to interact with articulated objects, such as doors, cabinets, dishwashers or fridges. In this work, we present a novel, probabilistic framework for modeling articulated objects as…

This paper describes a method of online refinement of a scene recognition model for robot navigation considering traversable plants, flexible plant parts which a robot can push aside while moving. In scene recognition systems that consider…

Recognizing material from color images is still a challenging problem today. While deep neural networks provide very good results on object recognition and has been the topic of a huge amount of papers in the last decade, their adaptation…

Robotic telemanipulation - the human-guided manipulation of remote objects - plays a pivotal role in several applications, from healthcare to operations in harsh environments. While visual feedback from cameras can provide valuable…

Perception algorithms that provide estimates of their uncertainty are crucial to the development of autonomous robots that can operate in challenging and uncontrolled environments. Such perception algorithms provide the means for having…

Human-robot co-manipulation of soft materials, such as fabrics, composites, and sheets of paper/cardboard, is a challenging operation that presents several relevant industrial applications. Estimating the deformation state of the…

Current object recognition methods fail on object sets that include both diffuse, reflective and transparent materials, although they are very common in domestic scenarios. We show that a combination of cues from multiple sensor modalities,…

Robust environment perception is essential for decision-making on robots operating in complex domains. Principled treatment of uncertainty sources in a robot's observation model is necessary for accurate mapping and object detection. This…

This paper describes an algorithm for classification of roof materials using aerial photographs. Main advantages of the algorithm are proposed methods to improve prediction accuracy. Proposed methods includes: method of converting ImageNet…

Hyperspectral images often have hundreds of spectral bands of different wavelengths captured by aircraft or satellites that record land coverage. Identifying detailed classes of pixels becomes feasible due to the enhancement in spectral and…

To enhance robotic grasping capabilities, we are developing new contactless fingertip sensors to measure distance in close proximity and simultaneously detect the type of material and the interior structure. These sensors are referred to as…

We describe a seriation algorithm for ranking a set of items given pairwise comparisons between these items. Intuitively, the algorithm assigns similar rankings to items that compare similarly with all others. It does so by constructing a…

Soft grippers are gaining significant attention in the manipulation of elastic objects, where it is required to handle soft and unstructured objects which are vulnerable to deformations. A crucial problem is to estimate the physical…