相关论文: Robotic surface exploration with vision and tactil…

In practical applications, effectively segmenting cracks in large-scale computed tomography (CT) images holds significant importance for understanding the structural integrity of materials. Classical image-processing techniques and modern…

Can a robot grasp an unknown object without seeing it? In this paper, we present a tactile-sensing based approach to this challenging problem of grasping novel objects without prior knowledge of their location or physical properties. Our…

Visual observation of objects is essential for many robotic applications, such as object reconstruction and manipulation, navigation, and scene understanding. Machine learning algorithms constitute the state-of-the-art in many fields but…

Locating and grasping of objects by robots is typically performed using visual sensors. Haptic feedback from contacts with the environment is only secondary if present at all. In this work, we explored an extreme case of searching for and…

In this paper, we investigate the problem of grasping novel objects in unstructured environments. To address this problem, consideration of the object geometry, reachability and force closure analysis are required. We propose a framework…

Humans rely on touch and tactile sensing for a lot of dexterous manipulation tasks. Our tactile sensing provides us with a lot of information regarding contact formations as well as geometric information about objects during any…

Robotic exploration under uncertain environments is challenging when optical information is not available. In this paper, we propose an autonomous solution of exploring an unknown task space based on tactile sensing alone. We first designed…

Markerless tracking of hands and fingers is a promising enabler for human-computer interaction. However, adoption has been limited because of tracking inaccuracies, incomplete coverage of motions, low framerate, complex camera setups, and…

This paper explores active sensing strategies that employ vision-based tactile sensors for robotic perception and classification of fabric textures. We formalize the active sampling problem in the context of tactile fabric recognition and…

Contemporary robots in precision agriculture focus primarily on automated harvesting or remote sensing to monitor crop health. Comparatively less work has been performed with respect to collecting physical leaf samples in the field and…

Pose estimation is essential for robotic manipulation, particularly when visual perception is occluded during gripper-object interactions. Existing tactile-based methods generally rely on tactile simulation or pre-trained models, which…

This paper proposes a thresholding approach for crack detection in an unmanned aerial vehicle (UAV) based infrastructure inspection system. The proposed algorithm performs recursively on the intensity histogram of UAV-taken images to…

This paper presents a novel framework for integration of vision and tactile sensing by localizing tactile readings in a visual object map. Intuitively, there are some correspondences, e.g., prominent features, between visual and tactile…

Detection of slip during object grasping and manipulation plays a vital role in object handling. Existing solutions primarily rely on visual information to devise a strategy for grasping. However, for robotic systems to attain a level of…

Object recognition is an essential capability when performing various tasks. Humans naturally use either or both visual and tactile perception to extract object class and properties. Typical approaches for robots, however, require complex…

Untangling of structures like ropes and wires by autonomous robots can be useful in areas such as personal robotics, industries and electrical wiring & repairing by robots. This problem can be tackled by using computer vision system in…

In this study, we consider the problem of detecting cracks from the image of a concrete surface for automated inspection of infrastructure, such as bridges. Its overall accuracy is determined by how accurately thin cracks with sub-pixel…

Monitoring surface cracks in infrastructure is crucial for structural health monitoring. Automatic visual inspection offers an effective solution, especially in hard-to-reach areas. Machine learning approaches have proven their…

Automated pavement crack detection and measurement are important road issues. Agencies have to guarantee the improvement of road safety. Conventional crack detection and measurement algorithms can be extremely time-consuming and low…

Structural inspection in nuclear facilities is vital for maintaining operational safety and integrity. Traditional methods of manual inspection pose significant challenges, including safety risks, high cognitive demands, and potential…