相关论文: MSL-RAPTOR: A 6DoF Relative Pose Tracker for Onboa…

We consider a novel anchorless rigid body localization (RBL) suitable for application in autonomous driving (AD), in so far as the algorithm enables a rigid body to egoistically detect the location (relative translation) and orientation…

The field of collaborative robotics and human-robot interaction often focuses on the prediction of human behaviour, while assuming the information about the robot setup and configuration being known. This is often the case with fixed…

We introduce the first data-driven multi-view 3D point tracker, designed to track arbitrary points in dynamic scenes using multiple camera views. Unlike existing monocular trackers, which struggle with depth ambiguities and occlusion, or…

Vehicle 3D extents and trajectories are critical cues for predicting the future location of vehicles and planning future agent ego-motion based on those predictions. In this paper, we propose a novel online framework for 3D vehicle…

The last several years have seen significant progress in using depth cameras for tracking articulated objects such as human bodies, hands, and robotic manipulators. Most approaches focus on tracking skeletal parameters of a fixed shape…

We present MonoPSR, a monocular 3D object detection method that leverages proposals and shape reconstruction. First, using the fundamental relations of a pinhole camera model, detections from a mature 2D object detector are used to generate…

Acquiring the accurate 3-D position of a target person around a robot provides fundamental and valuable information that is applicable to a wide range of robotic tasks, including home service, navigation and entertainment. This paper…

Recent work has shown impressive localization performance using only images of ground textures taken with a downward facing monocular camera. This provides a reliable navigation method that is robust to feature sparse environments and…

Multi-view 3D geometry networks offer a powerful prior but are prohibitively slow for real-time applications. We propose a novel way to adapt them for online use, enabling real-time 6-DoF pose tracking and online reconstruction of objects…

In this paper, we propose a simple methodology to detect the partial pose of a human occupying the manipulator work-space using only on-robot time--of--flight laser ranging sensors. The sensors are affixed on each link of the robot in a…

Accurate perception of the marine environment through robust multi-object tracking (MOT) is essential for ensuring safe vessel navigation and effective maritime surveillance. However, the complicated maritime environment often causes camera…

Multi-View Photometric Stereo (MVPS) is a popular method for fine-detailed 3D acquisition of an object from images. Despite its outstanding results on diverse material objects, a typical MVPS experimental setup requires a well-calibrated…

Rapid aerial grasping through robots can lead to many applications that utilize fast and dynamic picking and placing of objects. Rigid grippers traditionally used in aerial manipulators require high precision and specific object geometries…

In recent years, vision Transformers and MLPs have demonstrated remarkable performance in image understanding tasks. However, their inherently dense computational operators, such as self-attention and token-mixing layers, pose significant…

Monocular depth estimation has been actively studied in fields such as robot vision, autonomous driving, and 3D scene understanding. Given a sequence of color images, unsupervised learning methods based on the framework of…

In dynamic environments, the ability to detect and track moving objects in real-time is crucial for autonomous robots to navigate safely and effectively. Traditional methods for dynamic object detection rely on high accuracy odometry and…

We demonstrate that, under orthographic projection and with a camera fixated on a point located on a rigid body, the rotation of that body can be analytically obtained by tracking only one other feature in the image. With some exceptions,…

Monocular 3D object detection (M3OD) has long faced challenges due to data scarcity caused by high annotation costs and inherent 2D-to-3D ambiguity. Although various weakly supervised methods and pseudo-labeling methods have been proposed…

We introduce an approach for detecting and tracking detailed 3D poses of multiple people from a single monocular camera stream. Our system maintains temporally coherent predictions in crowded scenes filled with difficult poses and…

Tensegrity robots, which are composed of compressive elements (rods) and flexible tensile elements (e.g., cables), have a variety of advantages, including flexibility, low weight, and resistance to mechanical impact. Nevertheless, the…