相关论文: Virtual-force Based Visual Servo for Multiple Peg-…

We address the localization of robots in a multi-MAV system where external infrastructure like GPS or motion capture systems may not be available. Our approach lends itself to implementation on platforms with several constraints on size,…

Camera-based visible light positioning (VLP) has emerged as a promising indoor positioning technique. However, the need for dedicated luminaire infrastructure and on-target cameras in existing algorithms may limit their scalability and…

When developing control laws for robotic systems, the principle factor when examining their performance is choosing inputs that allow smooth tracking to a reference input. In the context of robotic manipulation, this involves translating an…

Mesh repair is a long-standing challenge in computer graphics and related fields. Converting defective meshes into watertight manifold meshes can greatly benefit downstream applications such as geometric processing, simulation, fabrication,…

In applications of deep reinforcement learning to robotics, it is often the case that we want to learn pose invariant policies: policies that are invariant to changes in the position and orientation of objects in the world. For example,…

Lifting is a common manual material handling task performed in the workplaces. It is considered as one of the main risk factors for Work-related Musculoskeletal Disorders. To improve work place safety, it is necessary to assess…

Soft robotic grippers facilitate contact-rich manipulation, including robust grasping of varied objects. Yet the beneficial compliance of a soft gripper also results in significant deformation that can make precision manipulation…

Manipulation planning is the problem of finding a sequence of robot configurations that involves interactions with objects in the scene, e.g., grasping and placing an object, or more general tool-use. To achieve such interactions,…

Hand pose estimation (HPE) can be used for a variety of human-computer interaction applications such as gesture-based control for physical or virtual/augmented reality devices. Recent works have shown that videos or multi-view images carry…

We describe MPSE: a Multi-Perspective Simultaneous Embedding method for visualizing high-dimensional data, based on multiple pairwise distances between the data points. Specifically, MPSE computes positions for the points in 3D and provides…

Autonomous Nano Aerial Vehicles have been increasingly popular in surveillance and monitoring operations due to their efficiency and maneuverability. Once a target location has been reached, drones do not have to remain active during the…

3D reconstruction aims to recover the dense 3D structure of a scene. It plays an essential role in various applications such as Augmented/Virtual Reality (AR/VR), autonomous driving and robotics. Leveraging multiple views of a scene…

Learning the hash representation of multi-view heterogeneous data is an important task in multimedia retrieval. However, existing methods fail to effectively fuse the multi-view features and utilize the metric information provided by the…

In this paper, we introduce Vox-Fusion++, a multi-maps-based robust dense tracking and mapping system that seamlessly fuses neural implicit representations with traditional volumetric fusion techniques. Building upon the concept of implicit…

Visual imitation learning has achieved impressive progress in learning unimanual manipulation tasks from a small set of visual observations, thanks to the latest advances in computer vision. However, learning bimanual coordination…

In this paper, we propose M$^2$BEV, a unified framework that jointly performs 3D object detection and map segmentation in the Birds Eye View~(BEV) space with multi-camera image inputs. Unlike the majority of previous works which separately…

In this paper, we present a framework for performing collaborative localization for groups of micro aerial vehicles (MAV) that use vision based sensing. The vehicles are each assumed to be equipped with a forward-facing monocular camera,…

Accurate and reliable positioning is crucial for perception, decision-making, and other high-level applications in autonomous driving, unmanned aerial vehicles, and intelligent robots. Given the inherent limitations of standalone sensors,…

Autonomous assembly is a crucial capability for robots in many applications. For this task, several problems such as obstacle avoidance, motion planning, and actuator control have been extensively studied in robotics. However, when it comes…

Vision and voice are two vital keys for agents' interaction and learning. In this paper, we present a novel indoor navigation model called Memory Vision-Voice Indoor Navigation (MVV-IN), which receives voice commands and analyzes multimodal…