相关论文: BIM-assisted object recognition for the on-site au…

We present a system enabling a modular robot to autonomously build structures in order to accomplish high-level tasks. Building structures allows the robot to surmount large obstacles, expanding the set of tasks it can perform. This…

Pose estimation is a widely explored problem, enabling many robotic tasks such as grasping and manipulation. In this paper, we tackle the problem of pose estimation for objects that exhibit rotational symmetry, which are common in man-made…

In this work we study indoor scene object placement. Given a 3D indoor scene and an object, the task is to predict placement locations within the scene. Empirical observations of data-driven approaches to the problem show their tendency to…

This paper investigates how learning can be used to ease the design of high-quality paths for the assembly of deformable objects. Object dynamics plays an important role when manipulating deformable objects; thus, detailed models are often…

Detecting oriented objects along with estimating their rotation information is one crucial step for analyzing remote sensing images. Despite that many methods proposed recently have achieved remarkable performance, most of them directly…

Purpose: Navigating urban environments poses significant challenges for individuals who are blind or have low vision, especially in areas affected by construction. Construction zones introduce hazards such as uneven surfaces, barriers,…

Accurate perception of the surrounding scene is helpful for robots to make reasonable judgments and behaviours. Therefore, developing effective scene representation and recognition methods are of significant importance in robotics.…

This work establishes a solution to the problem of assessing the capacity of multi-object assemblies to withstand external forces without becoming unstable. Our physically-grounded approach handles arbitrary structures made from rigid…

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…

This paper presents a vision guidance and control method for autonomous robotic capture and stabilization of orbital objects in a time-critical manner. The method takes into account various operational and physical constraints, including…

Autonomous robot navigation within the dynamic unknown environment is of crucial significance for mobile robotic applications including robot navigation in last-mile delivery and robot-enabled automated supplies in industrial and hospital…

Accurate camera-to-robot calibration is essential for any vision-based robotic control system and especially critical in minimally invasive surgical robots, where instruments conduct precise micro-manipulations. However, MIS robots have…

In many safety-critical applications such as autonomous driving and surgical robots, it is desirable to obtain prediction uncertainties from object detection modules to help support safe decision-making. Specifically, such modules need to…

We characterize the problem of pose estimation for rigid objects in terms of determining viewpoint to explain coarse pose and keypoint prediction to capture the finer details. We address both these tasks in two different settings - the…

Location modeling, or determining where non-existing objects could feasibly appear in a scene, has the potential to benefit numerous computer vision tasks, from automatic object insertion to scene creation in virtual reality. Yet, this…

With the advent of state-of-the-art machine learning and deep learning technologies, several industries are moving towards the field. Applications of such technologies are highly diverse ranging from natural language processing to computer…

To solve its task, a robot needs to have the ability to interpret its perceptions. In vision, this interpretation is particularly difficult and relies on the understanding of the structure of the scene, at least to the extent of its task…

Robots have the capability to collect large amounts of data autonomously by interacting with objects in the world. However, it is often not obvious \emph{how} to learning from autonomously collected data without human-labeled supervision.…

Autonomous driving, in recent years, has been receiving increasing attention for its potential to relieve drivers' burdens and improve the safety of driving. In modern autonomous driving pipelines, the perception system is an indispensable…

Robust localization in a given map is a crucial component of most autonomous robots. In this paper, we address the problem of localizing in an indoor environment that changes and where prominent structures have no correspondence in the map…