相关论文: Deep Learning for Real Time Satellite Pose Estimat…

In recent years, there has been a growing demand for improved autonomy for in-orbit operations such as rendezvous, docking, and proximity maneuvers, leading to increased interest in employing Deep Learning-based Spacecraft Pose Estimation…

In the RoboCup Small Size League (SSL), teams are encouraged to propose solutions for executing basic soccer tasks inside the SSL field using only embedded sensing information. Thus, this work proposes an embedded monocular vision approach…

Human Pose Estimation (HPE) to assess human motion in sports, rehabilitation or work safety requires accurate sensing without compromising the sensitive underlying personal data. Therefore, local processing is necessary and the limited…

In-bed pose estimation has shown value in fields such as hospital patient monitoring, sleep studies, and smart homes. In this paper, we explore different strategies for detecting body pose from highly ambiguous pressure data, with the aid…

This article presents a novel telepresence system for advancing aerial manipulation in dynamic and unstructured environments. The proposed system not only features a haptic device, but also a virtual reality (VR) interface that provides…

Visual Servoing (VS), where images taken from a camera typically attached to the robot end-effector are used to guide the robot motions, is an important technique to tackle robotic tasks that require a high level of accuracy. We propose a…

We present a novel technique to estimate the 6D pose of objects from single images where the 3D geometry of the object is only given approximately and not as a precise 3D model. To achieve this, we employ a dense 2D-to-3D correspondence…

Reliable and stable 6D pose estimation of uncooperative space objects plays an essential role in on-orbit servicing and debris removal missions. Considering that the pose estimator is sensitive to background interference, this paper…

Multi-human 3D pose estimation plays a key role in establishing a seamless connection between the real world and the virtual world. Recent efforts adopted a two-stage framework that first builds 2D pose estimations in multiple camera views…

Estimating camera pose in dynamic environments is a critical challenge, as most visual SLAM and SfM methods assume static scenes. While recent dynamic-aware methods exist, they are often not unified: semantic-based approaches are brittle,…

PoseNet can map a photo to the position where it is taken, which is appealing in robotics. However, training PoseNet requires full supervision, where ground truth positions are non-trivial to obtain. Can we train PoseNet without knowing the…

For many applications in low-power real-time robotics, stereo cameras are the sensors of choice for depth perception as they are typically cheaper and more versatile than their active counterparts. Their biggest drawback, however, is that…

As the important component of the Earth observation system, hyperspectral imaging satellites provide high-fidelity and enriched information for the formulation of related policies due to the powerful spectral measurement capabilities.…

Recent interest in on-orbit servicing and Active Debris Removal (ADR) missions have driven the need for technologies to enable non-cooperative rendezvous manoeuvres. Such manoeuvres put heavy burden on the perception capabilities of a…

Understanding the geometric and semantic properties of the scene is crucial in autonomous navigation and particularly challenging in the case of Unmanned Aerial Vehicle (UAV) navigation. Such information may be by obtained by estimating…

Real-time 6D object pose estimation is essential for many real-world applications, such as robotic grasping and augmented reality. To achieve an accurate object pose estimation from RGB images in real-time, we propose an effective and…

Pose estimation is a vital step in many robotics and perception tasks such as robotic manipulation, autonomous vehicle navigation, etc. Current state-of-the-art pose estimation methods rely on deep neural networks with complicated…

Autonomous vision-based spaceborne navigation is an enabling technology for future on-orbit servicing and space logistics missions. While computer vision in general has benefited from Machine Learning (ML), training and validating…

Low-electron-dose observation is indispensable for observing various samples using a transmission electron microscope; consequently, image processing has been used to improve transmission electron microscopy (TEM) images. To apply such…

Autonomous space operations such as on-orbit servicing and active debris removal demand robust part-level semantic understanding and precise relative navigation of target spacecraft, yet collecting large-scale real data in orbit remains…