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

3D mapping of tree roots is a popular ground-penetrating radar (GPR) application. In real field tests, the recognition of tree roots suffers due to noisey reflection patterns from subsurface targets that are not of interest, such as rocks,…

We consider the problem of detecting robotic grasps in an RGB-D view of a scene containing objects. In this work, we apply a deep learning approach to solve this problem, which avoids time-consuming hand-design of features. This presents…

Cracks in concrete structures are very common and are an integral part of this heterogeneous material. Characteristics of cracks induced by standardized tests yield valuable information about the tested concrete formulation and its…

In this paper, we propose a fast method for crack detection in 3D computed tomography (CT) images. Our approach combines the Maximal Hessian Entry filter and a Deep-First Search algorithm-based technique to strike a balance between…

Gaze and face tracking algorithms have traditionally battled a compromise between computational complexity and accuracy; the most accurate neural net algorithms cannot be implemented in real time, but less complex real-time algorithms…

Robotic grasp detection is a fundamental capability for intelligent manipulation in unstructured environments. Previous work mainly employed visual and tactile fusion to achieve stable grasp, while, the whole process depending heavily on…

To use robots in more unstructured environments, we have to accommodate for more complexities. Robotic systems need more awareness of the environment to adapt to uncertainty and variability. Although cameras have been predominantly used in…

This paper proposes a novel algorithm for the problem of structural image segmentation through an interactive model-based approach. Interaction is expressed in the model creation, which is done according to user traces drawn over a given…

Robotic manipulators navigating cluttered shelves or cabinets may find it challenging to avoid contact with obstacles. Indeed, rearranging obstacles may be necessary to access a target. Rather than planning explicit motions that place…

We present an efficient algorithm designed for and capable of detecting elongated, thin features such as lines and curves in astronomical images, and its application to the automatic detection of gravitational arcs. The algorithm is…

This work presents a fully integrated tree-based combined exploration-planning algorithm: Exploration-RRT (ERRT). The algorithm is focused on providing real-time solutions for local exploration in a fully unknown and unstructured…

Computer vision for detecting building pathologies has interested researchers for quite some time. Vision-based crack detection is a non-destructive assessment technique, which can be useful especially for Cultural Heritage (CH) where…

In this work, we present a fast target detection framework for real-world robotics applications. Considering that an intelligent agent attends to a task-specific object target during execution, our goal is to detect the object efficiently.…

Current methods to estimate object shape---using either vision or touch---generally depend on high-resolution sensing. Here, we exploit ergodic exploration to demonstrate successful shape estimation when using a low-resolution binary…

Exploration is an important step in autonomous navigation of robotic systems. In this paper we introduce a series of enhancements for exploration algorithms in order to use them with vision-based simultaneous localization and mapping…

Researchers and robotic development groups have recently started paying special attention to autonomous mobile robot navigation in indoor environments using vision sensors. The required data is provided for robot navigation and object…

We propose a novel autonomous robotic palpation framework for real-time elastic mapping during tissue exploration using a viscoelastic tissue model. The method combines force-based parameter estimation using a commercial force/torque sensor…

Clustering algorithms are often used to find subpopulations in exploratory data analysis workflows. Not only the clusters themselves, but also their shape can represent meaningful subpopulations. In this paper, we present FLASC, an…

This paper is a survey work for a bigger project for designing a Visual SLAM robot to generate 3D dense map of an unknown unstructured environment. A lot of factors have to be considered while designing a SLAM robot. Sensing method of the…

Automated pavement crack detection is a challenging task that has been researched for decades due to the complicated pavement conditions in real world. In this paper, a supervised method based on deep learning is proposed, which has the…