相关论文: Blind as a bat: audible echolocation on small robo…

Modular soft robots combine the strengths of two traditionally separate areas of robotics. As modular robots, they can show robustness to individual failure and reconfigurability; as soft robots, they can deform and undergo large shape…

Fine localization in autonomous driving platforms is a task of broad interest, receiving much attention in recent years. Some localization algorithms use the Euclidean distance as a similarity measure between the local image acquired by a…

Given an input sound signal and a target virtual sound source, sound spatialisation algorithms manipulate the signal so that a listener perceives it as though it were emitted from the target source. There exist several established…

Efficient face detection is critical to provide natural human-robot interactions. However, computer vision tends to involve a large computational load due to the amount of data (i.e. pixels) that needs to be processed in a short amount of…

How should a robot speak in a formal, quiet and dark, or a bright, lively and noisy environment? By designing robots to speak in a more social and ambient-appropriate manner we can improve perceived awareness and intelligence for these…

The objective of the sound source localization task is to enable machines to detect the location of sound-making objects within a visual scene. While the audio modality provides spatial cues to locate the sound source, existing approaches…

Embodied intelligence fundamentally requires a capability to determine where to act in 3D space. We formalize this requirement as embodied localization -- the problem of predicting executable 3D points conditioned on visual observations and…

This paper addresses the problem of localizing audio sources using binaural measurements. We propose a supervised formulation that simultaneously localizes multiple sources at different locations. The approach is intrinsically efficient…

We present Acoustic Inertial Measurement (AIM), a one-of-a-kind technique for indoor drone localization and tracking. Indoor drone localization and tracking are arguably a crucial, yet unsolved challenge: in GPS-denied environments,…

Perception in robot manipulation has been actively explored with the goal of advancing and integrating vision and touch for global and local feature extraction. However, it is difficult to perceive certain object internal states, and the…

Passive Acoustic Monitoring (PAM) is an efficient and non-invasive method for surveying ecosystems at a reduced cost. Typically, autonomous recorders allow the acquisition of vast bioacoustic datasets which are then analyzed. However, power…

While general object recognition is still far from being solved, this paper proposes a way for a robot to recognize every object at an almost human-level accuracy. Our key observation is that many robots will stay in a relatively closed…

Based on the recent advancements in representation learning, we propose a novel pipeline for task-oriented voice-controlled robots with raw sensor inputs. Previous methods rely on a large number of labels and task-specific reward functions.…

In order for robots to autonomously navigate and operate in diverse environments, it is essential for them to recognize the state of their environment. On the other hand, the environmental state recognition has traditionally involved…

Visual localization for planar moving robot is important to various indoor service robotic applications. To handle the textureless areas and frequent human activities in indoor environments, a novel robust visual localization algorithm…

Robot audition systems with multiple microphone arrays have many applications in practice. However, accurate calibration of multiple microphone arrays remains challenging because there are many unknown parameters to be identified, including…

Echolocation is the prime sensing modality for many species of bats, who show the intricate ability to perform a plethora of tasks in complex and unstructured environments. Understanding this exceptional feat of sensorimotor interaction is…

Tactile sensing in mobile robots remains under-explored, mainly due to challenges related to sensor integration and the complexities of distributed sensing. In this work, we present a tactile sensing architecture for mobile robots based on…

Humans can robustly recognize and localize objects by using visual and/or auditory cues. While machines are able to do the same with visual data already, less work has been done with sounds. This work develops an approach for scene…

Underwater target localization uses real-time sensory measurements to estimate the position of underwater objects of interest, providing critical feedback information for underwater robots. While acoustic sensing is the most acknowledged…