相关论文: High Speed Rotation Estimation with Dynamic Vision…

This study develops a real-time framework for estimating the risk of near-misses by using high-fidelity two-dimensional (2D) risk indicator time-to-collision (TTC), which is calculated from high-resolution data collected by autonomous…

Robot mobility is critical for mission success, especially in soft or deformable terrains, where the complex wheel-soil interaction mechanics often leads to excessive wheel slip and sinkage, causing the eventual mission failure. To improve…

Adding tactile sensors to a robotic system is becoming a common practice to achieve more complex manipulation skills than those robotics systems that only use external cameras to manipulate objects. The key of tactile sensors is that they…

Using the context of trajectory estimation and tracking for multi-rotor unmanned aerial vehicles (UAVs), we explore the challenges in applying high-gain observers to highly dynamic systems. The multi-rotor will operate in the presence of…

Tactile and visual perception are both crucial for humans to perform fine-grained interactions with their environment. Developing similar multi-modal sensing capabilities for robots can significantly enhance and expand their manipulation…

Robotic pushing is a fundamental manipulation task that requires tactile feedback to capture subtle contact forces and dynamics between the end-effector and the object. However, real tactile sensors often face hardware limitations such as…

Event-based vision has been rapidly growing in recent years justified by the unique characteristics it presents such as its high temporal resolutions (~1us), high dynamic range (>120dB), and output latency of only a few microseconds. This…

This paper addresses the problem of multi-robot coordination for complex manipulation task sequences. We present a vision-driven task-and-motion planning (TAMP) framework for a real dual-agent platform that integrates task decomposition and…

Predicting a potential collision with leading vehicles is an essential functionality of any autonomous/assisted driving system. One bottleneck of existing vision-based solutions is that their updating rate is limited to the frame rate of…

Accurate 3D pose estimation of grasped objects is an important prerequisite for robots to perform assembly or in-hand manipulation tasks, but object occlusion by the robot's own hand greatly increases the difficulty of this perceptual task.…

External collisions to robot actuators typically pose risks to grasping circular objects. This work presents a vision-based sensing module capable of detecting collisions to maintain stable grasping with a soft gripper system. The system…

Event-based cameras are new type vision sensors whose pixels work independently and respond asynchronously to brightness change with microsecond resolution, instead of providing standard intensity frames. Compared with traditional cameras,…

Visual Odometry (VO) is crucial for autonomous robotic navigation, especially in GPS-denied environments like planetary terrains. To improve robustness, recent model-based VO systems have begun combining standard and event-based cameras.…

This paper proposes a novel active visuo-tactile based methodology wherein the accurate estimation of the time-invariant SE(3) pose of objects is considered for autonomous robotic manipulators. The robot equipped with tactile sensors on the…

An optical rotary sensor based on laser self-mixing interferometry is proposed, which enables noncontact and full-circle rotation measurement of non-cooperative targets with high resolution and sensitivity. The prototype demonstrates that…

Visual teach-and-repeat (VT&R) navigation enables robots to autonomously traverse previously demonstrated paths using visual feedback. We present a novel event-camera-based VT\&R system. Our system formulates event-stream matching as…

Event cameras are novel vision sensors that output pixel-level brightness changes ("events") instead of traditional video frames. These asynchronous sensors offer several advantages over traditional cameras, such as, high temporal…

While on-body device-based human motion estimation is crucial for applications such as XR interaction, existing methods often suffer from poor wearability, expensive hardware, and cumbersome calibration, which hinder their adoption in daily…

Assistive visual navigation systems for visually impaired individuals have become increasingly popular thanks to the rise of mobile computing. Most of these devices work by translating visual information into voice commands. In complex…

Accurate 6-DoF pose estimation of objects is critical for robots to perform precise manipulation tasks. However, for dynamic object pose estimation, conventional camera-based approaches face several major challenges, such as motion blur,…