相关论文: Stable Object Reorientation using Contact Plane Re…
Region-based methods have become increasingly popular for model-based, monocular 3D tracking of texture-less objects in cluttered scenes. However, while they achieve state-of-the-art results, most methods are computationally expensive,…
The field of collaborative robotics and human-robot interaction often focuses on the prediction of human behaviour, while assuming the information about the robot setup and configuration being known. This is often the case with fixed…
Recently, several approaches have attempted to combine motion generation and control in one loop to equip robots with reactive behaviors, that cannot be achieved with traditional time-indexed tracking controllers. These approaches however…
We introduce GoTrack, an efficient and accurate CAD-based method for 6DoF object pose refinement and tracking, which can handle diverse objects without any object-specific training. Unlike existing tracking methods that rely solely on an…
We demonstrate that, under orthographic projection and with a camera fixated on a point located on a rigid body, the rotation of that body can be analytically obtained by tracking only one other feature in the image. With some exceptions,…
A new robust and accurate approach for the detection and localization of flying objects with the purpose of highly dynamic aerial interception and agile multi-robot interaction is presented in this paper. The approach is proposed for use on…
We introduce a method for real-time navigation and tracking with differentiably rendered world models. Learning models for control has led to impressive results in robotics and computer games, but this success has yet to be extended to…
The motivation of this paper is to address the problem of registering airborne LiDAR data and optical aerial or satellite imagery acquired from different platforms, at different times, with different points of view and levels of detail. In…
Action-conditioned robot world models generate future video frames of the manipulated scene given a robot action sequence, offering a promising alternative for simulating tasks that are difficult to model with traditional physics engines.…
The use of drones for aerial cinematography has revolutionized several applications and industries that require live and dynamic camera viewpoints such as entertainment, sports, and security. However, safely controlling a drone while…
Highly dynamic environments, with moving objects such as cars or humans, can pose a performance challenge for LiDAR SLAM systems that assume largely static scenes. To overcome this challenge and support the deployment of robots in real…
Point cloud analysis has drawn broader attentions due to its increasing demands in various fields. Despite the impressive performance has been achieved on several databases, researchers neglect the fact that the orientation of those point…
We propose a new dataset and a novel approach to learning hand-object interaction priors for hand and articulated object pose estimation. We first collect a dataset using visual teleoperation, where the human operator can directly play…
Deformable objects present a formidable challenge for robotic manipulation due to the lack of canonical low-dimensional representations and the difficulty of capturing, predicting, and controlling such objects. We construct compact…
Articulated objects are pervasive in daily life. However, due to the intrinsic high-DoF structure, the joint states of the articulated objects are hard to be estimated. To model articulated objects, two kinds of shape deformations namely…
Online multi-object tracking (MOT) is extremely important for high-level spatial reasoning and path planning for autonomous and highly-automated vehicles. In this paper, we present a modular framework for tracking multiple objects…
Can freely moving humans or animals themselves serve as calibration targets for multi-camera systems while simultaneously estimating their correspondences across views? We humans can solve this problem by mentally rotating the observed 2D…
This paper considers the problem of robot motion planning in a workspace with obstacles for systems with uncertain 2nd-order dynamics. In particular, we combine closed form potential-based feedback controllers with adaptive control…
Loop closures are essential for correcting odometry drift and creating consistent maps, especially in the context of large-scale navigation. Current methods using dense point clouds for accurate place recognition do not scale well due to…
We address the problem of reactive motion planning for quadrotors operating in unknown environments with dynamic obstacles. Our approach leverages a 4-dimensional spatio-temporal planner, integrated with vision-based Safe Flight Corridor…