相关论文: Robotic Testbed for Rendezvous and Optical Navigat…
Coordinating proximity and tactile imaging by collocating cameras with tactile sensors can 1) provide useful information before contact such as object pose estimates and visually servo a robot to a target with reduced occlusion and higher…
Robots deployed in unstructured human environments must frequently execute long-horizon missions, such as find the mug, then the chair, then the printer, under strict operational constraints. While contemporary zero-shot Object Navigation…
Visual odometry (VO) and SLAM have been using multi-view geometry via local structure from motion for decades. These methods have a slight disadvantage in challenging scenarios such as low-texture images, dynamic scenarios, etc. Meanwhile,…
For effective autonomous navigation,estimation of the pose of the robot is essential at every sampling time. For computing an accurate estimation,odometric error needs to be reduced with the help of data from external sensor. In this work,…
Drones estimate their position and orientation with the help of various sensors. Their data streams, that differ with respect to the sampling rate and standard deviation, need to be fused to get an accurate position and orientation…
This paper presents a novel robust online calibration framework for Ultra-Wideband (UWB) anchors in UWB-aided Visual-Inertial Navigation Systems (VINS). Accurate anchor positioning, a process known as calibration, is crucial for integrating…
Legged robots are becoming popular not only in research, but also in industry, where they can demonstrate their superiority over wheeled machines in a variety of applications. Either when acting as mobile manipulators or just as all-terrain…
Soft robots offer remarkable adaptability and safety advantages over rigid robots, but modeling their complex, nonlinear dynamics remains challenging. Strain-based models have recently emerged as a promising candidate to describe such…
The development of spaceborne coronagraphic technology is of paramount importance to the detection of habitable exoplanets in visible light. In space, coronagraphs are able to bypass the limitations imposed by the atmosphere to reach deeper…
Signal source localization has been a problem of interest in the multi-robot systems domain given its applications in search & rescue and hazard localization in various industrial and outdoor settings. A variety of multi-robot search…
Reliable relative pose estimation is a key enabler for autonomous rendezvous and proximity operations, yet space imagery is notoriously challenging due to extreme illumination, high contrast, and fast target motion. Event cameras provide…
In language-guided visual navigation, agents locate target objects in unseen environments using natural language instructions. For reliable navigation in unfamiliar scenes, agents should possess strong perception, planning, and prediction…
Reliable off-road navigation requires accurate estimation of traversable regions and robust perception under diverse terrain and sensing conditions. However, existing datasets lack both scalability and multi-modality, which limits progress…
Ophthalmic surgical robots offer superior stability and precision by reducing the natural hand tremors of human surgeons, enabling delicate operations in confined surgical spaces. Despite the advancements in developing vision- and…
The scarcity of data acquired under actual space operational conditions poses a significant challenge for developing learning-based visual navigation algorithms crucial for autonomous spacecraft navigation. This data shortage is primarily…
We introduce Stanford-ORB, a new real-world 3D Object inverse Rendering Benchmark. Recent advances in inverse rendering have enabled a wide range of real-world applications in 3D content generation, moving rapidly from research and…
Optical camera communication (OCC) exhibits considerable importance nowadays in various indoor camera based services such as smart home and robot-based automation. An android smart phone camera that is mounted on a mobile robot (MR) offers…
Robot navigation in unstructured environments requires multimodal perception systems that can support safe navigation. Multimodality enables the integration of complementary information collected by different sensors. However, this…
Although a wide variety of deep neural networks for robust Visual Odometry (VO) can be found in the literature, they are still unable to solve the drift problem in long-term robot navigation. Thus, this paper aims to propose novel deep…
Robotic learning in simulation environments provides a faster, more scalable, and safer training methodology than learning directly with physical robots. Also, synthesizing images in a simulation environment for collecting large-scale image…