相关论文: A Haptic-Based Proximity Sensing System for Buried…

Robots which interact with the physical world will benefit from a fine-grained tactile understanding of objects and surfaces. Additionally, for certain tasks, robots may need to know the haptic properties of an object before touching it. To…

Can computers perceive the physical properties of objects solely through vision? Research in cognitive science and vision science has shown that humans excel at identifying materials and estimating their physical properties based purely on…

Detecting oriented objects along with estimating their rotation information is one crucial step for analyzing remote sensing images. Despite that many methods proposed recently have achieved remarkable performance, most of them directly…

We propose a novel approach to charged particle tracking at high intensity particle colliders based on Approximate Nearest Neighbors search. With hundreds of thousands of measurements per collision to be reconstructed e.g. at the High…

Forward-looking sonar can capture high resolution images of underwater scenes, but their interpretation is complex. Generic object detection in such images has not been solved, specially in cases of small and unknown objects. In comparison,…

Human tactile perception of materials relies on complex multisensory touch cues, yet the relationship between low-level tactile signals and perceptual representations remains poorly understood. This knowledge gap hinders the integration of…

With the ever-growing expansion of mobile technology worldwide, there is an increasing need for accommodation for those who are disabled. This project explores how machine learning and computer vision could be utilized to improve…

Grasp synthesis is one of the challenging tasks for any robot object manipulation task. In this paper, we present a new deep learning-based grasp synthesis approach for 3D objects. In particular, we propose an end-to-end 3D Convolutional…

We develop a real-time state estimation system to recover the pose and contact formation of an object relative to its environment. In this paper, we focus on the application of inserting an object picked by a suction cup into a tight space,…

Perception-for-grasping is a challenging problem in robotics. Inexpensive range sensors such as the Microsoft Kinect provide sensing capabilities that have given new life to the effort of developing robust and accurate perception methods…

We perform the first high-throughput search and evaluation of materials that can serve as excellent low-mass dark matter detectors. Using properties of close to one thousand materials from the Materials Project database, we project the…

In open-pit mining, holes are drilled into the surface of the excavation site and detonated with explosives to facilitate digging. These blast holes need to be inspected internally to assess subsurface material types and drill quality, in…

Haptic exploration is a key skill for both robots and humans to discriminate and handle unknown objects or to recognize familiar objects. Its active nature is evident in humans who from early on reliably acquire sophisticated sensory-motor…

The world is abundant with diverse materials, each possessing unique surface appearances that play a crucial role in our daily perception and understanding of their properties. Despite advancements in technology enabling the capture and…

Detecting small and distant objects remains challenging for object detectors due to scale variation, low resolution, and background clutter. Safety-critical applications require reliable detection of these objects for safe planning. Depth…

This paper proposes a novel learning-free three-stage method that predicts grasping poses, enabling robots to pick up and transfer previously unseen objects. Our method first identifies potential structures that can afford the action of…

3D object detection is a common function within the perception system of an autonomous vehicle and outputs a list of 3D bounding boxes around objects of interest. Various 3D object detection methods have relied on fusion of different sensor…

Hyperspectral imaging is an advanced technique for precisely identifying and analyzing materials or objects. However, its integration with robotic grasping systems has so far been explored due to the deployment complexities and prohibitive…

Deep learning based object detection has achieved great success. However, these supervised learning methods are data-hungry and time-consuming. This restriction makes them unsuitable for limited data and urgent tasks, especially in the…

We present a novel approach to interactive 3D object perception for robots. Unlike previous perception algorithms that rely on known object models or a large amount of annotated training data, we propose a poking-based approach that…