相关论文: Vision-Guided Loco-Manipulation with a Snake Robot

We proposed an end-to-end deep learning-based simultaneous localization and mapping (SLAM) system following conventional visual odometry (VO) pipelines. The proposed method completes the SLAM framework by including tracking, mapping, and…

Amodal recognition is the ability of the system to detect occluded objects. Most SOTA Visual Recognition systems lack the ability to perform amodal recognition. Few studies have achieved amodal recognition through passive prediction or…

This paper presents a novel beacon light coding protocol, which enables fast and accurate identification of the beacons in an image. The protocol is provably robust to a predefined set of detection and decoding errors, and does not require…

Robot grasping of desktop object is widely used in intelligent manufacturing, logistics, and agriculture.Although vision-language models (VLMs) show strong potential for robotic manipulation, their deployment in low-level grasping faces key…

Deep Learning has become exceptionally popular in the last few years due to its success in computer vision and other fields of AI. However, deep neural networks are computationally expensive, which limits their application in low power…

This paper presents a deep learning framework designed to enhance the grasping capabilities of quadrupeds equipped with arms, with a focus on improving precision and adaptability. Our approach centers on a sim-to-real methodology that…

We propose a stereo vision-based approach for tracking the camera ego-motion and 3D semantic objects in dynamic autonomous driving scenarios. Instead of directly regressing the 3D bounding box using end-to-end approaches, we propose to use…

We propose Co-op, a novel method for accurately and robustly estimating the 6DoF pose of objects unseen during training from a single RGB image. Our method requires only the CAD model of the target object and can precisely estimate its pose…

Autonomous navigation and path-planning around non-cooperative space objects is an enabling technology for on-orbit servicing and space debris removal systems. The navigation task includes the determination of target object motion, the…

This paper presents a bio-inspired central pattern generator (CPG)-type architecture for learning optimal maneuvering control of periodic locomotory gaits. The architecture is presented here with the aid of a snake robot model problem…

We tackle the problem of perceptive locomotion in dynamic environments. In this problem, a quadrupedal robot must exhibit robust and agile walking behaviors in response to environmental clutter and moving obstacles. We present a…

Modes of transportation vary across countries depending on geographical location and cultural context. In South Asian countries rickshaws are among the most common means of local transport. Based on their mode of operation, rickshaws in…

This paper presents a stereo-vision-based system mounted on a drone for detecting and localising radiata pine branches to support autonomous pruning. The proposed pipeline comprises two stages: branch segmentation and depth estimation. For…

Non-violent street robberies (snatch-and-run) are difficult to detect automatically because they are brief, subtle, and often indistinguishable from benign human interactions in unconstrained surveillance footage. This paper presents a…

This paper presents the design and implementation of a relative localization system for SnailBot, a modular self reconfigurable robot. The system integrates ArUco marker recognition, optical flow analysis, and IMU data processing into a…

This paper addresses the problem of cooperative transportation of an object rigidly grasped by N robotic agents. We propose a Nonlinear Model Predictive Control (NMPC) scheme that guarantees the navigation of the object to a desired pose in…

The optimisation of crop harvesting processes for commonly cultivated crops is of great importance in the aim of agricultural industrialisation. Nowadays, the utilisation of machine vision has enabled the automated identification of crops,…

Human-robot collaboration requires robots to quickly infer user intent, provide transparent reasoning, and assist users in achieving their goals. Our recent work introduced GUIDER, our framework for inferring navigation and manipulation…

We propose a general self-supervised learning approach for spatial perception tasks, such as estimating the pose of an object relative to the robot, from onboard sensor readings. The model is learned from training episodes, by relying on: a…

Blind people face a lot of problems in their daily routines. They have to struggle a lot just to do their day-to-day chores. In this paper, we have proposed a system with the objective to help the visually impaired by providing audio aid…