相关论文: MAP-NBV: Multi-agent Prediction-guided Next-Best-V…

Camera-radar fusion offers a robust and low-cost alternative to Camera-lidar fusion for the 3D object detection task in real-time under adverse weather and lighting conditions. However, currently, in the literature, it is possible to find…

We present an active visual search model for finding objects in unknown environments. The proposed algorithm guides the robot towards the sought object using the relevant stimuli provided by the visual sensors. Existing search strategies…

In a vision system, every task needs that the operators to apply should be {\guillemotleft} well chosen {\guillemotright} and their parameters should be also {\guillemotleft} well adjusted {\guillemotright}. The diversity of operators and…

We propose to take a novel approach to robot system design where each building block of a larger system is represented as a differentiable program, i.e. a deep neural network. This representation allows for integrating algorithmic planning…

Vision-based Bird's-Eye-View (BEV) 3D object detection has recently become popular in autonomous driving. However, objects with a high similarity to the background from a camera perspective cannot be detected well by existing methods. In…

Assistive free-flyer robots autonomously caring for future crewed outposts -- such as NASA's Astrobee robots on the International Space Station (ISS) -- must be able to detect day-to-day interior changes to track inventory, detect and…

We present an approach that learns to synthesize high-quality, novel views of 3D objects or scenes, while providing fine-grained and precise control over the 6-DOF viewpoint. The approach is self-supervised and only requires 2D images and…

Localization in GNSS-denied and GNSS-degraded environments is a challenge for the safe widespread deployment of autonomous vehicles. Such GNSS-challenged environments require alternative methods for robust localization. In this work, we…

Objects rarely sit in isolation in human environments. As such, we'd like our robots to reason about how multiple objects relate to one another and how those relations may change as the robot interacts with the world. To this end, we…

We propose a method to detect and reconstruct multiple 3D objects from a single RGB image. The key idea is to optimize for detection, alignment and shape jointly over all objects in the RGB image, while focusing on realistic and physically…

Vision-language navigation (VLN), which entails an agent to navigate 3D environments following human instructions, has shown great advances. However, current agents are built upon panoramic observations, which hinders their ability to…

We introduce a new method that efficiently computes a set of viewpoints and trajectories for high-quality 3D reconstructions in outdoor environments. Our goal is to automatically explore an unknown area, and obtain a complete 3D scan of a…

We propose a solution for Active Visual Search of objects in an environment, whose 2D floor map is the only known information. Our solution has three key features that make it more plausible and robust to detector failures compared to…

Construction robots operate in unstructured construction sites, where effective visual perception is crucial for ensuring safe and seamless operations. However, construction robots often handle large elements and perform tasks across…

Planning for robotic manipulation requires reasoning about the changes a robot can affect on objects. When such interactions can be modelled analytically, as in domains with rigid objects, efficient planning algorithms exist. However, in…

We study the task of embodied visual active learning, where an agent is set to explore a 3d environment with the goal to acquire visual scene understanding by actively selecting views for which to request annotation. While accurate on some…

We introduce an active 3D reconstruction method which integrates visual perception, robot-object interaction, and 3D scanning to recover both the exterior and interior, i.e., unexposed, geometries of a target 3D object. Unlike other works…

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…

Existing UV mapping algorithms are designed to operate on well-behaved meshes, instead of the geometry representations produced by state-of-the-art 3D reconstruction and generation techniques. As such, applying these methods to the volume…

We propose a method for predicting the 3D shape of a deformable surface from a single view. By contrast with previous approaches, we do not need a pre-registered template of the surface, and our method is robust to the lack of texture and…