相关论文: Active Sensing for Search and Tracking: A Review

Multi-modal Probabilistic Active Sensing (MMPAS) uses sensor fusion and probabilistic models to control the perception process of robotic sensing platforms. MMPAS is successfully employed in environmental exploration, collaborative mobile…

Object pose estimation is a core perception task that enables, for example, object grasping and scene understanding. The widely available, inexpensive and high-resolution RGB sensors and CNNs that allow for fast inference based on this…

To navigate reliably in indoor environments, an industrial autonomous vehicle must know its position. However, current indoor vehicle positioning technologies either lack accuracy, usability or are too expensive. Thus, we propose a novel…

One of the most important object properties that humans and robots perceive through touch is hardness. This paper investigates information-theoretic active sampling strategies for sample-efficient hardness classification with vision-based…

We propose a new method for estimating the relative pose between two images, where we jointly learn keypoint detection, description extraction, matching and robust pose estimation. While our architecture follows the traditional pipeline for…

Human activity understanding is of widespread interest in artificial intelligence and spans diverse applications like health care and behavior analysis. Although there have been advances in deep learning, it remains challenging. The object…

Robotic science missions in remote environments, such as deep ocean and outer space, can involve studying phenomena that cannot directly be observed using on-board sensors but must be deduced by combining measurements of correlated…

Accurate understanding and prediction of human behaviors are critical prerequisites for autonomous vehicles, especially in highly dynamic and interactive scenarios such as intersections in dense urban areas. In this work, we aim at…

This paper addresses a novel architecture for person-following robots using active search. The proposed system can be applied in real-time to general mobile robots for learning features of a human, detecting and tracking, and finally…

The advent of edge devices dedicated to machine learning tasks enabled the execution of AI-based applications that efficiently process and classify the data acquired by the resource-constrained devices populating the Internet of Things. The…

Anomaly detection plays an important role in modern data-driven security applications, such as detecting suspicious access to a socket from a process. In many cases, such events can be described as a collection of categorical values that…

This paper presents the first active object mapping framework for complex robotic manipulation and autonomous perception tasks. The framework is built on an object SLAM system integrated with a simultaneous multi-object pose estimation…

A mobile manipulator often finds itself in an application where it needs to take a close-up view before performing a manipulation task. Named this as a coupled active perception and manipulation (CAPM) problem, we model the uncertainty in…

Retrieving target objects from unknown, confined spaces remains a challenging task that requires integrated, task-driven active sensing and rearrangement planning. Previous approaches have independently addressed active sensing and…

Active learning is a paradigm of machine learning which aims at reducing the amount of labeled data needed to train a classifier. Its overall principle is to sequentially select the most informative data points, which amounts to determining…

To have a robot actively supporting a human during a collaborative task, it is crucial that robots are able to identify the current action in order to predict the next one. Common approaches make use of high-level knowledge, such as object…

In machine learning, classification is usually seen as a function approximation problem, where the goal is to learn a function that maps input features to class labels. In this paper, we propose a novel clustering and classification…

Automated wildlife monitoring from aerial imagery is vital for conservation but remains limited by two persistent challenges: the difficulty of detecting small, rare species and the high cost of large-scale expert annotation. Prairie dogs…

Active perception approaches select future viewpoints by using some estimate of the information gain. An inaccurate estimate can be detrimental in critical situations, e.g., locating a person in distress. However the true information gained…

IP Geolocation is a key enabler for many areas of application like Content Delivery Networks, targeted advertisement and law enforcement. Therefore, an increased accuracy is needed to improve service quality. Although IP Geolocation is an…