相关论文: Photorealistic Robotic Simulation using Unreal Eng…

This extended abstract presents the design and evaluation of AgriOne, an automated unmanned ground vehicle (UGV) platform for high precision sensing of soil moisture in large agricultural fields. The developed robotic system is equipped…

This paper studies the problem of predicting future trajectories of people in unseen cameras of novel scenarios and views. We approach this problem through the real-data-free setting in which the model is trained only on 3D simulation data…

Unmanned Aerial Vehicles (UAVs) are known for their fast and versatile applicability. With UAVs' growth in availability and applications, they are now of vital importance in serving as technological support in search-and-rescue(SAR)…

Recently neural scene representations have provided very impressive results for representing 3D scenes visually, however, their study and progress have mainly been limited to visualization of virtual models in computer graphics or scene…

Data seems cheap to get, and in many ways it is, but the process of creating a high quality labeled dataset from a mass of data is time-consuming and expensive. With the advent of rich 3D repositories, photo-realistic rendering systems…

This paper presents two types of extended diffeomorphism designs to compensate for spatial placement differences between robot workspaces. Teleoperation of multiple robots is attracting attention to expand the utilization of the robot…

Reinforcement learning is a promising approach to developing hard-to-engineer adaptive solutions for complex and diverse robotic tasks. However, learning with real-world robots is often unreliable and difficult, which resulted in their low…

The increasing complexity of underwater robotic systems has led to a surge in simulation platforms designed to support perception, planning, and control tasks in marine environments. However, selecting the most appropriate underwater…

We propose a novel method to generate underwater object imagery that is acoustically compliant with that generated by side-scan sonar using the Unreal Engine. We describe the process to develop, tune, and generate imagery to provide…

Driving simulators play a large role in developing and testing new intelligent vehicle systems. The visual fidelity of the simulation is critical for building vision-based algorithms and conducting human driver experiments. Low visual…

End-to-end mission performance simulators (E2ES) are suitable tools to accelerate satellite mission development from concet to deployment. One core element of these E2ES is the generation of synthetic scenes that are observed by the various…

Camera-to-robot calibration is crucial for vision-based robot control and requires effort to make it accurate. Recent advancements in markerless pose estimation methods have eliminated the need for time-consuming physical setups for…

Simulation engines are widely adopted in robotics. However, they lack either full simulation control, ROS integration, realistic physics, or photorealism. Recently, synthetic data generation and realistic rendering has advanced tasks like…

Autonomous robotic tasks require actively perceiving the environment to achieve application-specific goals. In this paper, we address the problem of positioning an RGB camera to collect the most informative images to represent an unknown…

In this work we consider UAVs as cooperative agents supporting human users in their operations. In this context, the 3D localisation of the UAV assistant is an important task that can facilitate the exchange of spatial information between…

This paper presents a framework for the localization of Unmanned Aerial Vehicles (UAVs) in unstructured environments with the help of deep learning. A real-time rendering engine is introduced that generates optical and depth images given a…

Robotic ultrasound (US) systems have shown great potential to make US examinations easier and more accurate. Recently, various machine learning techniques have been proposed to realize automatic US image interpretation for robotic US…

We present a system for applying sim2real approaches to "in the wild" scenes with realistic visuals, and to policies which rely on active perception using RGB cameras. Given a short video of a static scene collected using a generic phone,…

We introduce RoboPose, a method to estimate the joint angles and the 6D camera-to-robot pose of a known articulated robot from a single RGB image. This is an important problem to grant mobile and itinerant autonomous systems the ability to…

Most of industrial robotic assembly tasks today require fixed initial conditions for successful assembly. These constraints induce high production costs and low adaptability to new tasks. In this work we aim towards flexible and adaptable…