相关论文: Multi-LED Classification as Pretext For Robot Head…

In this manuscript, distance and position estimation problems are investigated for visible light positioning (VLP) systems with red-green-blue (RGB) light emitting diodes (LEDs). The accuracy limits on distance and position estimation are…

Traditional visible light positioning (VLP) systems estimate receivers' coordinates based on the known light-emitting diode (LED) coordinates. However, the LED coordinates are not always known accurately. Because of the structural changes…

Head-pose estimation has many applications, such as social event analysis, human-robot and human-computer interaction, driving assistance, and so forth. Head-pose estimation is challenging because it must cope with changing illumination…

In this paper, we propose a simple methodology to detect the partial pose of a human occupying the manipulator work-space using only on-robot time--of--flight laser ranging sensors. The sensors are affixed on each link of the robot in a…

Recent advances in machine learning and hardware have produced embedded devices capable of performing real-time object detection with commendable accuracy. We consider a scenario in which embedded devices rely on an onboard object detector,…

Human body orientation estimation (HBOE) is widely applied into various applications, including robotics, surveillance, pedestrian analysis and autonomous driving. Although many approaches have been addressing the HBOE problem from specific…

Reliable localization of people is fundamental for service and social robots that must operate in close interaction with humans. State-of-the-art human detectors often rely on RGB-D cameras or costly 3D LiDARs. However, most commercial…

In multi-robot missions, relative position and attitude information between agents is valuable for a variety of tasks such as mapping, planning, and formation control. In this paper, the problem of estimating relative poses from a set of…

Operations in hazardous environments put humans, animals, and machines at high risk for physically damaging consequences. In contrast to humans and animals, quadruped robots cannot naturally identify and adjust their locomotion to a…

Autonomous robots deal with unexpected scenarios in real environments. Given input images, various visual perception tasks can be performed, e.g., semantic segmentation, depth estimation and normal estimation. These different tasks provide…

This paper focuses on vision-based pose estimation for multiple rigid objects placed in clutter, especially in cases involving occlusions and objects resting on each other. Progress has been achieved recently in object recognition given…

We consider the problem of learning observation models for robot state estimation with incremental non-differentiable optimizers in the loop. Convergence to the correct belief over the robot state is heavily dependent on a proper tuning of…

High-precision tiny object alignment remains a common and critical challenge for humanoid robots in real-world. To address this problem, this paper proposes a vision-based framework for precisely estimating and controlling the relative…

In robotic applications, we often face the challenge of discovering new objects while having very little or no labelled training data. In this paper we explore the use of self-supervision provided by a robot traversing an environment to…

With the development of computer vision, visual odometry is adopted by more and more mobile robots. However, we found that not only its own pose, but the poses of other moving objects are also crucial for the decision of the robot. In…

It is essential that a robot has the ability to determine its position and orientation to execute tasks autonomously. Heading estimation is especially challenging in indoor environments where magnetic distortions make magnetometer-based…

Incorporating boundaries of the imaging object as a priori information to imaging algorithms can significantly improve the performance of electromagnetic medical imaging systems. To avoid overly complicating the system by using different…

The field of collaborative robotics and human-robot interaction often focuses on the prediction of human behaviour, while assuming the information about the robot setup and configuration being known. This is often the case with fixed…

To build commercial robots, skid-steering mechanical design is of increased popularity due to its manufacturing simplicity and unique mechanism. However, these also cause significant challenges on software and algorithm design, especially…

In many automation tasks involving manipulation of rigid objects, the poses of the objects must be acquired. Vision-based pose estimation using a single RGB or RGB-D sensor is especially popular due to its broad applicability. However,…