相关论文: Take Your Best Shot: Sampling-Based Planning for A…

An accurate understanding of a self-driving vehicle's surrounding environment is crucial for its navigation system. To enhance the effectiveness of existing algorithms and facilitate further research, it is essential to provide…

Next Best View computation (NBV) is a long-standing problem in robotics, and consists in identifying the next most informative sensor position(s) for reconstructing a 3D object or scene efficiently and accurately. Like most current methods,…

In this study, we propose a novel visual localization approach to accurately estimate six degrees of freedom (6-DoF) poses of the robot within the 3D LiDAR map based on visual data from an RGB camera. The 3D map is obtained utilizing an…

Vision Language Models (VLMs) excel at visual question answering (VQA) but remain limited to snapshot vision, reasoning from static images. In contrast, embodied agents require ambulatory vision, actively moving to obtain more informative…

Visual servoing technology has been well developed and applied in many automated manufacturing tasks, especially in tools' pose alignment. To access a full global view of tools, most applications adopt eye-to-hand configuration or…

Robots in tomato greenhouses need to perceive the plant and plant parts accurately to automate monitoring, harvesting, and de-leafing tasks. Existing perception systems struggle with the high levels of occlusion in plants and often result…

Robotic vision plays a key role for perceiving the environment in grasping applications. However, the conventional framed-based robotic vision, suffering from motion blur and low sampling rate, may not meet the automation needs of evolving…

Extracting a Bird's Eye View (BEV) representation from multiple camera images offers a cost-effective, scalable alternative to LIDAR-based solutions in autonomous driving. However, the performance of the existing BEV methods drops…

Monitoring and patrolling large water resources is a major challenge for conservation. The problem of acquiring data of an underlying environment that usually changes within time involves a proper formulation of the information. The use of…

Active perception for fruit mapping and harvesting is a difficult task since occlusions occur frequently and the location as well as size of fruits change over time. State-of-the-art viewpoint planning approaches utilize computationally…

3D scene models are useful in robotics for tasks such as path planning, object manipulation, and structural inspection. We consider the problem of creating a 3D model using depth images captured by a team of multiple robots. Each robot…

Visual Question Answering (VQA) models, which fall under the category of vision-language models, conventionally execute multiple downsampling processes on image inputs to strike a balance between computational efficiency and model…

Visual inspection is the predominant technique for evaluating the condition of civil infrastructure. The recent advances in unmanned aerial vehicles (UAVs) and artificial intelligence have made the visual inspections faster, safer, and more…

Camera-equipped unmanned vehicles (UVs) have received a lot of attention in data collection for construction monitoring applications. To develop an autonomous platform, the UV should be able to process multiple modules (e.g.,…

This paper presents algorithms to navigate and avoid obstacles for an in-door autonomous mobile robot. A laser range finder is used to obtain 3D images of the environment. A new algorithm, namely 3D-to-2D image pressure and barriers…

Rigorous Verification and Validation (V&V) of Autonomous Driving Functions (ADFs) is paramount for ensuring the safety and public acceptance of Autonomous Vehicles (AVs). Current validation relies heavily on simulation to achieve sufficient…

This work addresses the problem of active 3D mapping, where an agent must find an efficient trajectory to exhaustively reconstruct a new scene. Previous approaches mainly predict the next best view near the agent's location, which is prone…

Mapless navigation has emerged as a promising approach for enabling autonomous robots to navigate in environments where pre-existing maps may be inaccurate, outdated, or unavailable. In this work, we propose an image-based local…

Near-field perception is essential for the safe operation of autonomous mobile robots (AMRs) in manufacturing environments. Conventional ranging sensors such as light detection and ranging (LiDAR) and ultrasonic devices provide broad…

Vision-based 3D Detection task is fundamental task for the perception of an autonomous driving system, which has peaked interest amongst many researchers and autonomous driving engineers. However achieving a rather good 3D BEV (Bird's Eye…