相关论文: Breaking the Latency Barrier: Synergistic Percepti…

There are two critical sensors for 3D perception in autonomous driving, the camera and the LiDAR. The camera provides rich semantic information such as color, texture, and the LiDAR reflects the 3D shape and locations of surrounding…

Adaptive robots in dynamic production environments require robust perception capabilities, including 6D pose estimation and multi-object tracking. To address limitations in real-world data dependency, noise robustness, and spatiotemporal…

Although existing 3D perception algorithms have demonstrated significant improvements in performance, their deployment on edge devices continues to encounter critical challenges due to substantial runtime latency. We propose a new benchmark…

Super-Resolution Ultrasound (SRUS) imaging through localising and tracking microbubbles, also known as Ultrasound Localisation Microscopy (ULM), has demonstrated significant potential for reconstructing microvasculature and flows with…

In robotic systems, perception latency is a term that refers to the computing time measured from the data acquisition to the moment in which perception output is ready to be used to compute control commands. There is a compromise between…

Humans seamlessly fuse anticipatory planning with immediate feedback to perform successive mobile manipulation tasks without stopping, achieving both high efficiency and reliability. Replicating this fluid and reliable behavior in robots…

Outside of urban hubs, autonomous cars and trucks have to master driving on intercity highways. Safe, long-distance highway travel at speeds exceeding 100 km/h demands perception distances of at least 250 m, which is about five times the…

Learning or identifying dynamics from a sequence of high-dimensional observations is a difficult challenge in many domains, including reinforcement learning and control. The problem has recently been studied from a generative perspective…

Ultrasound is widely employed for clinical intervention and diagnosis, due to its advantages of offering non-invasive, radiation-free, and real-time imaging. However, the accessibility of this dexterous procedure is limited due to the…

Designing an efficient and resilient human-robot collaboration strategy that not only upholds the safety and ergonomics of shared workspace but also enhances the performance and agility of collaborative setup presents significant challenges…

Nonlinear Resonant Ultrasound Spectroscopy (NRUS) experiments that rely on repeated sampling of resonance curves are inherently sensitive to measurement protocol due to evolution of material parameters caused by fast and slow dynamic…

Low-latency instance segmentation of LiDAR point clouds is crucial in real-world applications because it serves as an initial and frequently-used building block in a robot's perception pipeline, where every task adds further delay.…

In autonomous driving, recent research has increasingly focused on collaborative perception based on deep learning to overcome the limitations of individual perception systems. Although these methods achieve high accuracy, they rely on high…

We aim to redefine robust ego-motion estimation and photorealistic 3D reconstruction by addressing a critical limitation: the reliance on noise-free data in existing models. While such sanitized conditions simplify evaluation, they fail to…

Reconstructing dynamic 4D scenes is an important yet challenging task. While 3D foundation models like VGGT excel in static settings, they often struggle with dynamic sequences where motion causes significant geometric ambiguity. To address…

The ultrasound scanning robot operates in environments where frequent human-robot interactions occur. Most existing control methods for ultrasound scanning address only one specific interaction situation or implement hard switches between…

Collaborative perception, fusing information from multiple agents, can extend perception range so as to improve perception performance. However, temporal asynchrony in real-world environments, caused by communication delays, clock…

Humans effortlessly integrate common-sense knowledge with sensory input from vision and touch to understand their surroundings. Emulating this capability, we introduce FusionSense, a novel 3D reconstruction framework that enables robots to…

Humans are remarkable at navigating and moving through dynamic and complex spaces, such as crowded streets. For robots to do the same, it is crucial that they are endowed with highly reactive obstacle avoidance robust to partial and poor…

A reliable odometry source is a prerequisite to enable complex autonomy behaviour in next-generation robots operating in extreme environments. In this work, we present a high-precision lidar odometry system to achieve robust and real-time…