相关论文: Staircase Recognition and Location Based on Polari…
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…
Staircases are some of the most common building structures in urban environments. Stair detection is an important task for various applications, including the environmental perception of exoskeleton robots, humanoid robots, and rescue…
Lidar has become a cornerstone sensing modality for 3D vision, especially for large outdoor scenarios and autonomous driving. Conventional lidar sensors are capable of providing centimeter-accurate distance information by emitting laser…
Autonomous robotics is critically affected by the robustness of its scene understanding algorithms. We propose a two-axis pipeline based on polarization indices to analyze dynamic urban scenes. As robots evolve in unknown environments, they…
Stereo cameras are a popular choice for obstacle avoidance for outdoor lighweight, low-cost robotics applications. However, they are unable to sense thin and reflective objects well. Currently, many algorithms are tuned to perform well on…
The challenge of image-based 3D reconstruction for glossy objects lies in separating diffuse and specular components on glossy surfaces from captured images, a task complicated by the ambiguity in discerning lighting conditions and material…
Human-robot walking with prosthetic legs and exoskeletons, especially over complex terrains such as stairs, remains a significant challenge. Egocentric vision has the unique potential to detect the walking environment prior to physical…
Visual localization techniques often comprise a hierarchical localization pipeline, with a visual place recognition module used as a coarse localizer to initialize a pose refinement stage. While improving the pose refinement step has been…
Stairs are common building structures in urban environments, and stair detection is an important part of environment perception for autonomous mobile robots. Most existing algorithms have difficulty combining the visual information from…
Object detection in road scenes is necessary to develop both autonomous vehicles and driving assistance systems. Even if deep neural networks for recognition task have shown great performances using conventional images, they fail to detect…
Robotic systems need advanced mobility capabilities to operate in complex, three-dimensional environments designed for human use, e.g., multi-level buildings. Incorporating some level of autonomy enables robots to operate robustly,…
Vision-based stair perception can help autonomous mobile robots deal with the challenge of climbing stairs, especially in unfamiliar environments. To address the problem that current monocular vision methods are difficult to model stairs…
Scene graphs enhance 3D mapping capabilities in robotics by understanding the relationships between different spatial elements, such as rooms and objects. Recent research extends scene graphs to hierarchical layers, adding and leveraging…
Camera relocalization is a crucial problem in computer vision and robotics. Recent advancements in neural radiance fields (NeRFs) have shown promise in synthesizing photo-realistic images. Several works have utilized NeRFs for refining…
In diffraction imaging, one is tasked with reconstructing a signal from its power spectrum. To resolve the ambiguity in this inverse problem, one might invoke prior knowledge about the signal, but phase retrieval algorithms in this vein…
Reconstructing an object's geometry and appearance from multiple images, also known as inverse rendering, is a fundamental problem in computer graphics and vision. Inverse rendering is inherently ill-posed because the captured image is an…
We address the visual relocalization problem of predicting the location and camera orientation or pose (6DOF) of the given input scene. We propose a method based on how humans determine their location using the visible landmarks. We define…
Nowadays, three-dimensional reconstruction is used in various fields like computer vision, computer graphics, mixed reality and digital twin. The three-dimensional reconstruction of cultural heritage objects is one of the most important…
The detection of traversable regions on staircases and the physical modeling constitutes pivotal aspects of the mobility of legged robots. This paper presents an onboard framework tailored to the detection of traversable regions and the…
Today, three-dimensional reconstruction of objects has many applications in various fields, and therefore, choosing a suitable method for high resolution three-dimensional reconstruction is an important issue and displaying high-level…