相关论文: DIJE: Dense Image Jacobian Estimation for Robust R…

For effective autonomous navigation,estimation of the pose of the robot is essential at every sampling time. For computing an accurate estimation,odometric error needs to be reduced with the help of data from external sensor. In this work,…

Dashboard cameras capture a tremendous amount of driving scene video each day. These videos are purposefully coupled with vehicle sensing data, such as from the speedometer and inertial sensors, providing an additional sensing modality for…

This paper addresses the consistency issue of multi-robot distributed cooperative localization. We introduce a consistent distributed cooperative localization algorithm conducting state estimation in a transformed coordinate. The core idea…

This work investigates how a naive agent can acquire its own body image in a self-supervised way, based on the predictability of its sensorimotor experience. Our working hypothesis is that, due to its temporal stability, an agent's body…

Depth estimation from stereo images remains a challenge even though studied for decades. The KITTI benchmark shows that the state-of-the-art solutions offer accurate depth estimation, but are still computationally complex and often require…

This paper introduces a novel approach for modeling the dynamics of soft robots, utilizing a differentiable filter architecture. The proposed approach enables end-to-end training to learn system dynamics, noise characteristics, and temporal…

Deformable medical image registration is a fundamental task in medical image analysis. While deep learning-based methods have demonstrated superior accuracy and computational efficiency compared to traditional techniques, they often…

Joint camera pose and dense geometry estimation from a set of images or a monocular video remains a challenging problem due to its computational complexity and inherent visual ambiguities. Most dense incremental reconstruction systems…

State estimation for legged locomotion over a dynamic rigid surface (DRS), which is a rigid surface moving in the world frame (e.g., ships, aircraft, and trains), remains an under-explored problem. This paper introduces an invariant…

The ability to detect pedestrians and other moving objects is crucial for an autonomous vehicle. This must be done in real-time with minimum system overhead. This paper discusses the implementation of a surround view system to identify…

This paper presents a Dynamic Vision Sensor (DVS) based system for reasoning about high speed motion. As a representative scenario, we consider the case of a robot at rest reacting to a small, fast approaching object at speeds higher than…

Modern robotic manipulation primarily relies on visual observations in a 2D color space for skill learning but suffers from poor generalization. In contrast, humans, living in a 3D world, depend more on physical properties-such as distance,…

We propose a probabilistic filtering method which fuses joint measurements with depth images to yield a precise, real-time estimate of the end-effector pose in the camera frame. This avoids the need for frame transformations when using it…

Due to possibly changing pose of a movable object and nonholonomic constraint of a differential-drive robot, it is challenging to design an object servoing scheme for the differential-drive robot to asymptotically park at a predefined…

Object recognition is an essential capability when performing various tasks. Humans naturally use either or both visual and tactile perception to extract object class and properties. Typical approaches for robots, however, require complex…

In autonomous robotics, measurement of the robot's internal state and perception of its environment, including interaction with other agents such as collaborative robots, are essential. Estimating the pose of the robot arm from a single…

One of the challenges of full autonomy is to have a robot capable of manipulating its current environment to achieve another environment configuration. This paper is a step towards this challenge, focusing on the visual understanding of the…

Pose estimation commonly refers to computer vision methods that recognize people's body postures in images or videos. With recent advancements in deep learning, we now have compelling models to tackle the problem in real-time. Since these…

Camera calibration is a process of paramount importance in computer vision applications that require accurate quantitative measurements. The popular method developed by Zhang relies on the use of a large number of images of a planar grid of…

We present a deep neural network-based method to perform high-precision, robust and real-time 6 DOF visual servoing. The paper describes how to create a dataset simulating various perturbations (occlusions and lighting conditions) from a…