相关论文: Vision-Guided Loco-Manipulation with a Snake Robot
Object-relative mobile robot navigation is essential for a variety of tasks, e.g. autonomous critical infrastructure inspection, but requires the capability to extract semantic information about the objects of interest from raw sensory…
A staircase localization method is proposed for robots to explore urban environments autonomously. The proposed method employs a modular design in the form of a cascade pipeline consisting of three modules of stair detection, line segment…
Humanoid robots require precise locomotion and dexterous manipulation to perform challenging loco-manipulation tasks. Yet existing approaches, modular or end-to-end, are deficient in manipulation-aware locomotion. This confines the robot to…
Visual motion estimation is an integral and well-studied challenge in autonomous navigation. Recent work has focused on addressing multimotion estimation, which is especially challenging in highly dynamic environments. Such environments not…
Most feature-based stereo visual odometry (SVO) approaches estimate the motion of mobile robots by matching and tracking point features along a sequence of stereo images. However, in dynamic scenes mainly comprising moving pedestrians,…
This paper presents a framework for dynamic object catching using a quadruped robot's front legs while it stands on its rear legs. The system integrates computer vision, trajectory prediction, and leg control to enable the quadruped to…
We consider the problem of navigating a mobile robot towards a target in an unknown environment that is endowed with visual sensors, where neither the robot nor the sensors have access to global positioning information and only use…
Ego-motion estimation is vital for drones when flying in GPS-denied environments. Vision-based methods struggle when flight speed increases and close-by objects lead to difficult visual conditions with considerable motion blur and large…
Achieving generalizable manipulation in unconstrained environments requires the robot to proactively resolve information uncertainty, i.e., the capability of active perception. However, existing methods are often confined in limited types…
We present bilateral teleoperation system for task learning and robot motion generation. Our system includes a bilateral teleoperation platform and a deep learning software. The deep learning software refers to human demonstration using the…
Pipelines, vital for fluid transport, pose an important yet challenging inspection task, particularly in small, flexible biological systems, that robots have yet to master. In this study, we explored the development of an innovative robot…
The machine vision systems have been playing a significant role in visual monitoring systems. With the help of stereovision and machine learning, it will be able to mimic human-like visual system and behaviour towards the environment. In…
This paper proposes to solve the problem of Vision-and-Language Navigation with legged robots, which not only provides a flexible way for humans to command but also allows the robot to navigate through more challenging and cluttered scenes.…
This paper addresses the challenge of humanoid robot teleoperation in a natural indoor environment via a Brain-Computer Interface (BCI). We leverage deep Convolutional Neural Network (CNN) based image and signal understanding to facilitate…
Human-Object Interaction (HOI) detection, which localizes and infers relationships between human and objects, plays an important role in scene understanding. Although two-stage HOI detectors have advantages of high efficiency in training…
Now a days, UAVs such as drones are greatly used for various purposes like that of capturing and target detection from ariel imagery etc. Easy access of these small ariel vehicles to public can cause serious security threats. For instance,…
Traditional monitoring of bearded dragon (Pogona Viticeps) behaviour is time-consuming and prone to errors. This project introduces an automated system for real-time video analysis, using You Only Look Once (YOLO) object detection models to…
In this paper, we present a model-free learning-based control scheme for the soft snake robot to improve its contact-aware locomotion performance in a cluttered environment. The control scheme includes two cooperative controllers: A…
Localization and navigation are two crucial issues for mobile robots. In this paper, we propose an approach for localization and navigation systems for a differential-drive robot based on monocular SLAM. The system is implemented on the…
This paper aims to tackle Multiple Object Tracking (MOT), an important problem in computer vision but remains challenging due to many practical issues, especially occlusions. Indeed, we propose a new real-time Depth Perspective-aware…