相关论文: Vision-Based Proprioceptive Sensing for Soft Infla…
Additive manufacturing is enabling soft robots with increasingly complex geometries, creating a demand for sensing solutions that remain compatible with single-material, one-step fabrication. Optical soft sensors are attractive for…
Robust manipulation often hinges on a robot's ability to perceive extrinsic contacts-contacts between a grasped object and its surrounding environment. However, these contacts are difficult to observe through vision alone due to occlusions,…
Robots have been brought to work close to humans in many scenarios. For coexistence and collaboration, robots should be safe and pleasant for humans to interact with. To this end, the robots could be both physically soft with multimodal…
Deep learning-based object detection is a powerful approach for detecting faulty insulators in power lines. This involves training an object detection model from scratch, or fine tuning a model that is pre-trained on benchmark computer…
This work proposes a fast deployment pipeline for visually-servoed robots which does not assume anything about either the robot - e.g. sizes, colour or the presence of markers - or the deployment environment. In this, accurate estimation of…
Accurate and robust object state estimation enables successful object manipulation. Visual sensing is widely used to estimate object poses. However, in a cluttered scene or in a tight workspace, the robot's end-effector often occludes the…
Pain is a serious and costly issue globally, but to be treated, it must first be detected. Vision transformers are a top-performing architecture in computer vision, with little research on their use for pain detection. In this paper, we…
In this paper, we address the problem of estimating the in-hand 6D pose of an object in contact with multiple vision-based tactile sensors. We reason on the possible spatial configurations of the sensors along the object surface.…
Robotic manipulation tasks often rely on static cameras for perception, which can limit flexibility, particularly in scenarios like robotic surgery and cluttered environments where mounting static cameras is impractical. Ideally, robots…
This paper describes a system for transmitting softness and the motion of shape or contact area sensation using a vision based tactile sensor and a tactile display in which mechanical and electrical stimulation are combined. A unit of…
As a crucial robotic perception capability, visual tracking has been intensively studied recently. In the real-world scenarios, the onboard processing time of the image streams inevitably leads to a discrepancy between the tracking results…
Vision-based Tactile Sensors (VBTSs) show significant promise in that they can leverage image measurements to provide high-spatial-resolution human-like performance. However, current VBTS designs, typically confined to the fingertips of…
For the best human-robot interaction experience, the robot's navigation policy should take into account personal preferences of the user. In this paper, we present a learning framework complemented by a perception pipeline to train a depth…
Laser remote sensing represents a powerful tool that enables the accurate measurement of the speed of moving targets. Crucially, most sensing techniques are 2-Dimensional and only enable direct determination of the speed along the line of…
Tactile sensing is an essential perception for robots to complete dexterous tasks. As a promising tactile sensing technique, vision-based tactile sensors have been developed to improve robot performance in manipulation and grasping. Here we…
The Internet of Things (IoT) and smart city paradigm includes ubiquitous technology to extract context information in order to return useful services to users and citizens. An essential role in this scenario is often played by computer…
Visual sensor networks are used for monitoring traffic in large cities and are promised to support automated driving in complex road segments. The pose of these sensors, i.e. position and orientation, directly determines the coverage of the…
The main aim of this work is the development of a vision-based road detection system fast enough to cope with the difficult real-time constraints imposed by moving vehicle applications. The hardware platform, a special-purpose massively…
Egomotion estimation is crucial for applications such as autonomous navigation and robotics, where accurate and real-time motion tracking is required. However, traditional methods relying on inertial sensors are highly sensitive to external…
Sensor-based Human Activity Recognition facilitates unobtrusive monitoring of human movements. However, determining the most effective sensor placement for optimal classification performance remains challenging. This paper introduces a…