相关论文: Assembly Planning from Observations under Physical…

This paper addresses the problem of reassembling images from disjointed fragments. More specifically, given an unordered set of fragments, we aim at reassembling one or several possibly incomplete images. The main contributions of this work…

Building and maintaining a catalog of resident space objects involves several tasks, ranging from observations to data analysis. Once acquired, the knowledge of a space object needs to be updated following a dedicated observing schedule.…

Plane arrangements are a useful tool for surface and volume modelling. However, their main drawback is poor scalability. We introduce two key novelties that enable the construction of plane arrangements for complex objects and entire…

This paper presents a novel and effective technique for extracting multiple ellipses from an image. The approach employs an evolutionary algorithm to mimic the way animals behave collectively assuming the overall detection process as a…

The plant community composition is an essential indicator of environmental changes and is, for this reason, usually analyzed in ecological field studies in terms of the so-called plant cover. The manual acquisition of this kind of data is…

Visual localization and mapping is a crucial capability to address many challenges in mobile robotics. It constitutes a robust, accurate and cost-effective approach for local and global pose estimation within prior maps. Yet, in highly…

We study the problem of image alignment for panoramic stitching. Unlike most existing approaches that are feature-based, our algorithm works on pixels directly, and accounts for errors across the whole images globally. Technically, we…

When the boundary of a familiar object is shown by a series of isolated dots, humans can often recognize the object with ease. This ability can be sustained with addition of distracting dots around the object. However, such capability has…

Autonomous assembly is a crucial capability for robots in many applications. For this task, several problems such as obstacle avoidance, motion planning, and actuator control have been extensively studied in robotics. However, when it comes…

Accurate real-time pose estimation of spacecraft or object in space is a key capability necessary for on-orbit spacecraft servicing and assembly tasks. Pose estimation of objects in space is more challenging than for objects on Earth due to…

This paper studies the problem of steering a linear time-invariant system subject to state and input constraints towards a goal location that may be inferred only through partial observations. We assume mixed-observable settings, where the…

Grasping of novel objects in pick and place applications is a fundamental and challenging problem in robotics, specifically for complex-shaped objects. It is observed that the well-known strategies like \textit{i}) grasping from the…

The problem of finding suitable point embedding or geometric configurations given only Euclidean distance information of point pairs arises both as a core task and as a sub-problem in a variety of machine learning applications. In this…

This paper presents a robotic pick-and-place system that is capable of grasping and recognizing both known and novel objects in cluttered environments. The key new feature of the system is that it handles a wide range of object categories…

In this paper we present an approach for learning to imitate human behavior on a semantic level by markerless visual observation. We analyze a set of spatial constraints on human pose data extracted using convolutional pose machines and…

In this work we consider the problem of gathering autonomous robots in the plane. In particular, we consider non-transparent unit-disc robots (i.e., fat) in an asynchronous setting. Vision is the only mean of coordination. Using a…

We focus on the task of unknown object rearrangement, where a robot is supposed to re-configure the objects into a desired goal configuration specified by an RGB-D image. Recent works explore unknown object rearrangement systems by…

We focus on the challenging problem of efficient mouse 3D pose estimation based on static images, and especially single depth images. We introduce an approach to discriminatively train the split nodes of trees in random forest to improve…

Robots have been steadily increasing their presence in our daily lives, where they can work along with humans to provide assistance in various tasks on industry floors, in offices, and in homes. Automated assembly is one of the key…

While robotic manipulation of rigid objects is quite straightforward, coping with deformable objects is an open issue. More specifically, tasks like tying a knot, wiring a connector or even surgical suturing deal with the domain of…