相关论文: Robotic Inspection and Characterization of Subsurf…
In this paper, we propose a novel computer vision-based approach to aid Reconfigurable Intelligent Surface (RIS) for dynamic beam tracking and then implement the corresponding prototype verification system. A camera is attached at the RIS…
The increasing adoption of electric scooters (e-scooters) in urban areas has coincided with a rise in traffic accidents and injuries, largely due to their small wheels, lack of suspension, and sensitivity to uneven surfaces. While deep…
Accurate and robust object state estimation enables successful object manipulation. Visual sensing is widely used to estimate object poses. However, in a cluttered scene or in a tight workspace, the robot's end-effector often occludes the…
This paper presents an innovative solution to the issue of infrastructure deterioration in the U.S., where a significant portion of facilities are in poor condition, and over 130,000 steel bridges have exceeded their lifespan. Aging steel…
This paper introduces the Terrain Recognition And Contact Force Estimation Paw, a compact and sensorized shoe designed for legged robots. The paw end-effector is made of silicon that deforms upon the application of contact forces, while an…
In this paper, an intelligent reflecting surface (IRS) is leveraged to enhance the physical layer security of an integrated sensing and communication (ISAC) system in which the IRS is deployed to not only assist the downlink communication…
Seismic noise with an amplitude higher than that of the sought signal is a challenge for detection. Several techniques have been developed to suppress the ambient noise and to reduce the detection threshold in order to find signals with the…
Extended Reality (XR) technologies are gaining traction as effective tools for medical training and procedural guidance, particularly in complex cardiac interventions. This paper presents a novel system for real-time 3D tracking and…
In this paper, we propose a new technique that applies automated image analysis in the area of structural corrosion monitoring and demonstrate improved efficacy compared to existing approaches. Structural corrosion monitoring is the initial…
Interactive image segmentation(IIS) plays a critical role in generating precise annotations for remote sensing imagery, where objects often exhibit scale variations, irregular boundaries and complex backgrounds. However, existing IIS…
Visual degradation in underwater environments poses unique and significant challenges, which distinguishes underwater SLAM from popular vision-based SLAM on the ground. In this paper, we propose RUSSO, a robust underwater SLAM system which…
Autonomous underwater inspection of submerged pipelines is challenging due to confined geometries, turbidity, and the scarcity of reliable localization cues. This paper presents a minimal-sensing strategy that enables a free-swimming…
Detecting diverse objects within complex indoor 3D point clouds presents significant challenges for robotic perception, particularly with varied object shapes, clutter, and the co-existence of static and dynamic elements where traditional…
This letter introduces two multi-sensor state estimation frameworks for quadruped robots, built on the Invariant Extended Kalman Filter (InEKF) and Invariant Smoother (IS). The proposed methods, named E-InEKF and E-IS, fuse kinematics, IMU,…
In road monitoring, it is an important issue to detect changes in the road surface at an early stage to prevent damage to third parties. The target of the falling object may be a fallen tree due to the external force of a flood or an…
This paper presents a pilot study introducing a multimodal fusion framework for the detection and analysis of bridge defects, integrating Non-Destructive Evaluation (NDE) techniques with advanced image processing to enable precise…
This work proposes an iterative channel estimation, detection and decoding (ICEDD) scheme for the uplink of multi-user multi-antenna systems assisted by multiple reconfigurable intelligent surfaces (RIS)}. A novel iterative code-aided…
Road surface classification (RSC) is a key enabler for environment-aware predictive maintenance systems. However, existing RSC techniques often fail to generalize beyond narrow operational conditions due to limited sensing modalities and…
This paper describes an initiation of interaction(IoI) detection framework without keywords for human-robot interaction(HRI) based on audio and vision sensor fusion in a domestic environment. In the proposed framework, the robot has its own…
Automotive targets undergoing turns in road junctions offer large synthetic apertures over short dwell times to automotive radars that can be exploited for obtaining fine cross-range resolution. Likewise, the wide bandwidths of the…