相关论文: Estimating Scene Flow in Robot Surroundings with D…

Autonomous vehicles operate in highly dynamic environments necessitating an accurate assessment of which aspects of a scene are moving and where they are moving to. A popular approach to 3D motion estimation, termed scene flow, is to employ…

Scene flow depicts the dynamics of a 3D scene, which is critical for various applications such as autonomous driving, robot navigation, AR/VR, etc. Conventionally, scene flow is estimated from dense/regular RGB video frames. With the…

This paper presents a novel control algorithm for robotic manipulators in unstructured environments using proximity sensors partially distributed on the platform. The proposed approach exploits arrays of multi zone Time-of-Flight (ToF)…

Scene flow estimation is the task of describing 3D motion between temporally successive observations. This thesis aims to build the foundation for building scene flow estimators with two important properties: they are scalable, i.e. they…

Despite significant advances in generic object detection, a persistent performance gap remains for tiny objects compared to normal-scale objects. We demonstrate that tiny objects are highly sensitive to annotation noise, where optimizing…

For several tasks, ranging from manipulation to inspection, it is beneficial for robots to localize a target object in their surroundings. In this paper, we propose an approach that utilizes coarse point clouds obtained from miniaturized…

Localization and mapping of an environment are crucial tasks for any robot operating in unstructured environments. Time-of-flight (ToF) sensors (e.g.,~lidar) have proven useful in mobile robotics, where high-resolution sensors can be used…

Scene flow characterizes the 3D motion between two LiDAR scans captured by an autonomous vehicle at nearby timesteps. Prevalent methods consider scene flow as point-wise unconstrained flow vectors that can be learned by either large-scale…

We propose and study a method called FLOT that estimates scene flow on point clouds. We start the design of FLOT by noticing that scene flow estimation on point clouds reduces to estimating a permutation matrix in a perfect world. Inspired…

Given two consecutive RGB-D images, we propose a model that estimates a dense 3D motion field, also known as scene flow. We take advantage of the fact that in robot manipulation scenarios, scenes often consist of a set of rigidly moving…

Indirect Time-of-Flight (iToF) cameras are a widespread type of 3D sensor, which perform multiple captures to obtain depth values of the captured scene. While recent approaches to correct iToF depths achieve high performance when removing…

In this paper, we present a new self-supervised scene flow estimation approach for a pair of consecutive point clouds. The key idea of our approach is to represent discrete point clouds as continuous probability density functions using…

Human motion sensing plays a crucial role in smart systems for decision-making, user interaction, and personalized services. Extensive research that has been conducted is predominantly based on cameras, whose intrusive nature limits their…

Tracking the position and orientation of objects in space (i.e., in 6-DoF) in real time is a fundamental problem in robotics for environment interaction. It becomes more challenging when objects move at high-speed due to frame rate…

Real-time high-accuracy optical flow estimation is a crucial component in various applications, including localization and mapping in robotics, object tracking, and activity recognition in computer vision. While recent learning-based…

Accurate velocity estimation of surrounding moving objects and their trajectories are critical elements of perception systems in Automated/Autonomous Vehicles (AVs) with a direct impact on their safety. These are non-trivial problems due to…

Scene flow provides crucial motion information for autonomous driving. Recent LiDAR scene flow models utilize the rigid-motion assumption at the instance level, assuming objects are rigid bodies. However, these instance-level methods are…

Thanks to their compliance and adaptability, soft robots can be deployed to perform tasks in constrained or complex environments. In these scenarios, spatial awareness of the surroundings and the ability to localize the robot within the…

Estimation of unsteady flow fields around flight vehicles may improve flow interactions and lead to enhanced vehicle performance. Although flow-field representations can be very high-dimensional, their dynamics can have low-order…

Scene flow allows autonomous vehicles to reason about the arbitrary motion of multiple independent objects which is the key to long-term mobile autonomy. While estimating the scene flow from LiDAR has progressed recently, it remains largely…