相关论文: Camera Exposure Control for Robust Robot Vision wi…

We introduce a novel formulation for incorporating visual feedback in controlling robots. We define a generative model from actions to image observations of features on the end-effector. Inference in the model allows us to infer the robot…

In the emerging advancement in the branch of autonomous robotics, the ability of a robot to efficiently localize and construct maps of its surrounding is crucial. This paper deals with utilizing thermal-infrared cameras, as opposed to…

Accurate intrinsic and extrinsic camera calibration can be an important prerequisite for robotic applications that rely on vision as input. While there is ongoing research on enabling camera calibration using natural images, many systems in…

We present a robotic system capable of navigating autonomously by following a line and taking good quality pictures of people. When a group of people are detected, the robot rotates towards them and then back to line while continuously…

Most existing distance metric learning methods assume perfect side information that is usually given in pairwise or triplet constraints. Instead, in many real-world applications, the constraints are derived from side information, such as…

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…

Successful visual navigation depends upon capturing images that contain sufficient useful information. In this letter, we explore a data-driven approach to account for environmental lighting changes, improving the quality of images for use…

In this paper, we address the problem of controlling a mobile stereo camera under image quantization noise. Assuming that a pair of images of a set of targets is available, the camera moves through a sequence of Next-Best-Views (NBVs),…

We present a controllable camera simulator based on deep neural networks to synthesize raw image data under different camera settings, including exposure time, ISO, and aperture. The proposed simulator includes an exposure module that…

What makes a good viewpoint? The quality of the data used to learn 3D reconstructions is crucial for enabling efficient and accurate scene modeling. We study the active view selection problem and develop a principled analysis that yields a…

3D cameras have emerged as a critical source of information for applications in robotics and autonomous driving. These cameras provide robots with the ability to capture and utilize point clouds, enabling them to navigate their surroundings…

Conventionally, human intuition defines vision as a modality of passive optical sensing, relying on ambient light to perceive the environment. However, active optical sensing, which involves emitting and receiving signals, offers unique…

We demonstrated a CMOS imaging system that adapts each pixel's exposure and sampling rate to capture high dynamic range (HDR) videos. The system consist of a custom designed image sensor with pixel-wise exposure configurability and a…

AI-based robots and vehicles are expected to operate safely in complex and dynamic environments, even in the presence of component degradation. In such systems, perception relies on sensors such as cameras to capture environmental data,…

Over recent years, deep learning-based computer vision systems have been applied to images at an ever-increasing pace, oftentimes representing the only type of consumption for those images. Given the dramatic explosion in the number of…

As robots operate in increasingly complex and dynamic environments, fast motion re-planning has become a widely explored area of research. In a real-world deployment, we often lack the ability to fully observe the environment at all times,…

Adjusting camera exposure in arbitrary lighting conditions is the first step to ensure the functionality of computer vision applications. Poorly adjusted camera exposure often leads to critical failure and performance degradation.…

Image based rendering is a fundamental problem in computer vision and graphics. Modern techniques often rely on depth image for the 3D construction. However for most of the existing depth cameras, the large and unpredictable noises can be…

This paper presents a dataset, called Reeds, for research on robot perception algorithms. The dataset aims to provide demanding benchmark opportunities for algorithms, rather than providing an environment for testing application-specific…

Object detection is an essential task for autonomous robots operating in dynamic and changing environments. A robot should be able to detect objects in the presence of sensor noise that can be induced by changing lighting conditions for…