相关论文: Robotic Inspection and Characterization of Subsurf…
Non-contact radar-based human sensing is often interpreted using simplified motion assumptions. However, respiration induces non-rigid surface deformation of the human body that impacts electromagnetic wave scattering and can degrade the…
Robotic catching of flying objects typically generates high impact forces that might lead to task failure and potential hardware damages. This is accentuated when the object mass to robot payload ratio increases, given the strong inertial…
Iris Recognition (IR) is one of the market's most reliable and accurate biometric systems. Today, it is challenging to build NIR-capturing devices under the premise of hardware price reduction. Commercial NIR sensors are protected from…
The Instance Image Goal Navigation (IIN) problem requires mobile robots deployed in unknown environments to search for specific objects or people of interest using only a single reference goal image of the target. This problem can be…
Magnetic Resonance Elastography (MRE) has become an essential tool in assessing the mechanical properties of soft tissues in-vivo, prompting significant progress in new inversion algorithms. This creates a need for a benchmarking framework…
Rolling element bearing faults in rotating systems are observed as impulses in the vibration signals, which are usually buried in noises. In order to effectively detect the fault of bearings, a novel spectrum searching method is proposed.…
Deep learning-based industrial anomaly detectors often behave as black boxes, making it hard to justify decisions with physically meaningful defect evidence. We propose ZSG-IAD, a multimodal vision-language framework for zero-shot grounded…
Structural damage detection is essential for maintaining the safety and reliability of civil infrastructure. However, accurately identifying different types of structural damage from images remains challenging due to variations in damage…
In many applications of advanced robotic manipulation, six degrees of freedom (6DoF) object pose estimates are continuously required. In this work, we develop a multi-modality tracker that fuses information from visual appearance and…
Mobile robots operating indoors must be prepared to navigate challenging scenes that contain transparent surfaces. This paper proposes a novel method for the fusion of acoustic and visual sensing modalities through implicit neural…
The Intermeshed Steel Connection (ISC) system, when paired with robotic manipulators, can accelerate steel-frame assembly and improve worker safety by eliminating manual assembly. Dependable perception is one of the initial stages for…
In continuum robotics, real-time robust shape estimation is crucial for planning and control tasks that involve physical manipulation in complex environments. In this paper, we present a novel stochastic observer-based shape estimation…
This study introduces the long-range Ising model from statistical mechanics to the Performance-Based Earthquake Engineering (PBEE) framework for regional seismic damage analysis. The application of the PBEE framework at a regional scale…
With robots being deployed in increasingly complex environments like underground mines and planetary surfaces, the multi-sensor fusion method has gained more and more attention which is a promising solution to state estimation in the such…
Ultrafast intracardiac echocardiography (ICE) uses unfocused transmissions to capture cardiac motion at frame rates exceeding 1 kHz. While this enables real-time visualization of rapid dynamics, image quality is often degraded by…
Sensing-assisted communication schemes have recently garnered significant research attention. In this work, we design a dual-function reconfigurable intelligent surface (RIS), integrating both active and passive elements, referred to as the…
We present a method for dynamic surface reconstruction of large-scale urban scenes from LiDAR. Depth-based reconstructions tend to focus on small-scale objects or large-scale SLAM reconstructions that treat moving objects as outliers. We…
Over the past decade, lidars have become a cornerstone of robotics state estimation and perception thanks to their ability to provide accurate geometric information about their surroundings in the form of 3D scans. Unfortunately, most of…
This paper presents the design, implementation, and evaluation of an IoT-based robotic system for mapping and monitoring indoor air quality. The primary objective was to develop a mobile robot capable of autonomously mapping a closed…
In open-pit mining, holes are drilled into the surface of the excavation site and detonated with explosives to facilitate digging. These blast holes need to be inspected internally to assess subsurface material types and drill quality, in…