相关论文: Vision-Guided Active Tactile Perception for Crack …
Comprehensive perception of human beings is the prerequisite to ensure the safety of human-robot interaction. Currently, prevailing visual sensing approach typically involves a single static camera, resulting in a restricted and occluded…
3D reconstruction can be used as a platform to monitor the performance of activities on construction site, such as construction progress monitoring, structure inspection and post-disaster rescue. Comparing to other sensors, RGB image has…
Object detection plays a fundamental role in enabling Cooperative Driving Automation (CDA), which is regarded as the revolutionary solution to addressing safety, mobility, and sustainability issues of contemporary transportation systems.…
Vision-based tactile sensors, through high-resolution optical measurements, can effectively perceive the geometric shape of objects and the force information during the contact process, thus helping robots acquire higher-dimensional tactile…
Humans rely on touch and tactile sensing for a lot of dexterous manipulation tasks. Our tactile sensing provides us with a lot of information regarding contact formations as well as geometric information about objects during any…
Inspection of cracks is an important process for properly monitoring and maintaining a building. However, manual crack inspection is time-consuming, inconsistent, and dangerous (e.g., in tall buildings). Due to the development of…
Recognizing safety violations in construction environments is critical yet remains underexplored in computer vision. Existing models predominantly rely on 2D object detection, which fails to capture the complexities of real-world violations…
This work presents a novel active visuo-tactile based framework for robotic systems to accurately estimate pose of objects in dense cluttered environments. The scene representation is derived using a novel declutter graph (DG) which…
Ordinary electric woodworking tools are integrated into a multiple-object-aware augmented framework to assist operators in fabrication tasks. This study presents an advanced evaluation of the developed open-source fabrication software…
Articulated object recognition -- the task of identifying both the geometry and kinematic joints of objects with movable parts -- is essential for enabling robots to interact with everyday objects such as doors and laptops. However,…
Surface damage on concrete is important as the damage can affect the structural integrity of the structure. This paper proposes a two-step surface damage detection scheme using Convolutional Neural Network (CNN) and Artificial Neural…
Perception using whisker-inspired tactile sensors currently faces a major challenge: the lack of active control in robots based on direct contact information from the whisker. To accurately reconstruct object contours, it is crucial for the…
Automotive manufacturing assembly tasks are built upon visual inspections such as scratch identification on machined surfaces, part identification and selection, etc, which guarantee product and process quality. These tasks can be related…
Human skeleton information is important in skeleton-based action recognition, which provides a simple and efficient way to describe human pose. However, existing skeleton-based methods focus more on the skeleton, ignoring the objects…
Automatic pavement crack detection is an important task to ensure the functional performances of pavements during their service life. Inspired by deep learning (DL), the encoder-decoder framework is a powerful tool for crack detection.…
The accurate detection and segmentation of pavement distresses, particularly tiny and small cracks, are critical for early intervention and preventive maintenance in transportation infrastructure. Traditional manual inspection methods are…
Mistake analysis in procedural activities is a critical area of research with applications spanning industrial automation, physical rehabilitation, education and human-robot collaboration. This paper reviews vision-based methods for…
The present work involves the discrete modelling of corrosion induced cracking and its influence on the bond between reinforcement and concrete. A lattice approach is used to describe the mechanical interaction of a corroding reinforcement…
Direct physical guidance is a natural means of teaching and interacting with robots, and robotic skins make a key contribution by enabling sensitive contact sensing and localization. This paper presents a tactile-proprioceptive sensor…
Precision assembly requires sub-millimeter corrections in contact-rich "last-millimeter" regions where visual feedback fails due to occlusion from the end-effector and workpiece. We present ReTac-ACT (Reconstruction-enhanced Tactile ACT), a…