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Sensor Localization by Few Distance Measurements via the Intersection of Implicit Manifolds | https://ieeexplore.ieee.org/document/10160553/ | [
"Michael M. Bilevich",
"Steven M. LaValle",
"Dan Halperin",
"Michael M. Bilevich",
"Steven M. LaValle",
"Dan Halperin"
] | We present a general approach for determining the unknown (or uncertain) position and orientation of a sensor mounted on a robot in a known environment, using only a few distance measurements (between 2 to 6 typically), which is advantageous, among others, in sensor cost, and storage and information-communication resources. In-between the measurements, the robot can perform predetermined local mot... |
Boosting Performance of a Baseline Visual Place Recognition Technique by Predicting the Maximally Complementary Technique | https://ieeexplore.ieee.org/document/10161561/ | [
"Connor Malone",
"Stephen Hausler",
"Tobias Fischer",
"Michael Milford",
"Connor Malone",
"Stephen Hausler",
"Tobias Fischer",
"Michael Milford"
] | One recent promising approach to the Visual Place Recognition (VPR) problem has been to fuse the place recognition estimates of multiple complementary VPR techniques using methods such as shared representative appearance learning (SRAL) and multi-process fusion. These approaches come with a substantial practical limitation: they require all potential VPR methods to be brute-force run before they a... |
Loosely-coupled localization fusion system based on track-to-track fusion with bias alignment | https://ieeexplore.ieee.org/document/10160567/ | [
"Soyeong Kim",
"Jaeyoung Jo",
"Paulo Resende",
"Benazouz Bradai",
"Kichun Jo",
"Soyeong Kim",
"Jaeyoung Jo",
"Paulo Resende",
"Benazouz Bradai",
"Kichun Jo"
] | The localization system is an essential element in robotics, which can provide accurate position information. Multiple localization systems can be integrated for reliable localization operations because there are various methods for measuring the position or processing algorithms. Significantly, the track-to-track (T2T) fusion method can fuse multiple localization systems using each system's estim... |
Portable Multi-Hypothesis Monte Carlo Localization for Mobile Robots | https://ieeexplore.ieee.org/document/10160957/ | [
"Alberto García",
"Francisco Martín",
"José Miguel Guerrero",
"Francisco J. Rodríguez",
"Vicente Matellán",
"Alberto García",
"Francisco Martín",
"José Miguel Guerrero",
"Francisco J. Rodríguez",
"Vicente Matellán"
] | Self-localization is a fundamental capability that mobile robot navigation systems integrate to move from one point to another using a map. Thus, any enhancement in localization accuracy is crucial to perform delicate dexterity tasks. This paper describes a new localization algorithm that maintains several populations of particles using the Monte Carlo Localization (MCL) algorithm, always choosing... |
CPnP: Consistent Pose Estimator for Perspective-n-Point Problem with Bias Elimination | https://ieeexplore.ieee.org/document/10160942/ | [
"Guangyang Zeng",
"Shiyu Chen",
"Biqiang Mu",
"Guodong Shi",
"Junfeng Wu",
"Guangyang Zeng",
"Shiyu Chen",
"Biqiang Mu",
"Guodong Shi",
"Junfeng Wu"
] | The Perspective-n-Point (PnP) problem has been widely studied in both computer vision and photogrammetry societies. With the development of feature extraction techniques, a large number of feature points might be available in a single shot. It is promising to devise a consistent estimator, i.e., the estimate can converge to the true camera pose as the number of points increases. To this end, we pr... |
LiDAR-based Indoor Localization with Optimal Particle Filters using Surface Normal Constraints | https://ieeexplore.ieee.org/document/10160274/ | [
"Heruka Andradi",
"Sebastian Blumenthal",
"Erwin Prassler",
"Paul G. Plöger",
"Heruka Andradi",
"Sebastian Blumenthal",
"Erwin Prassler",
"Paul G. Plöger"
] | Accurate and robust localization systems are often highly desired in autonomous mobile robots. Existing LiDAR-based localization systems generally use standard particle filters which suffer from the well-known particle degeneracy problem. Furthermore, standard particle filters are ill-suited for handling discrepancies between maps and the actual operating environments. In this work, we present an ... |
Efficient Planar Pose Estimation via UWB Measurements | https://ieeexplore.ieee.org/document/10161456/ | [
"Haodong Jiang",
"Wentao Wang",
"Yuan Shen",
"Xinghan Li",
"Xiaoqiang Ren",
"Biqiang Mu",
"Junfeng Wu",
"Haodong Jiang",
"Wentao Wang",
"Yuan Shen",
"Xinghan Li",
"Xiaoqiang Ren",
"Biqiang Mu",
"Junfeng Wu"
] | State estimation is an essential part of autonomous systems. Integrating the Ultra-Wideband (UWB) technique has been shown to correct the long-term estimation drift and bypass the complexity of loop closure detection. However, few works on robotics treat UWB as a stand-alone state estimation solution. The primary purpose of this work is to investigate planar pose estimation using only UWB range me... |
Visual Pitch and Roll Estimation For Inland Water Vessels | https://ieeexplore.ieee.org/document/10160460/ | [
"Dennis Griesser",
"Georg Umlauf",
"Matthias O. Franz",
"Dennis Griesser",
"Georg Umlauf",
"Matthias O. Franz"
] | Motion estimation is an essential element for autonomous vessels. It is used e.g. for lidar motion compensation as well as mapping and detection tasks in a maritime environment. Because the use of gyroscopes is not reliable and a high performance inertial measurement unit is quite expensive, we present an approach for visual pitch and roll estimation that utilizes a convolutional neural network fo... |
GPF-BG: A Hierarchical Vision-Based Planning Framework for Safe Quadrupedal Navigation | https://ieeexplore.ieee.org/document/10160804/ | [
"Shiyu Feng",
"Ziyi Zhou",
"Justin S. Smith",
"Max Asselmeier",
"Ye Zhao",
"Patricio A. Vela",
"Shiyu Feng",
"Ziyi Zhou",
"Justin S. Smith",
"Max Asselmeier",
"Ye Zhao",
"Patricio A. Vela"
] | Safe quadrupedal navigation through unknown environments is a challenging problem. This paper proposes a hierarchical vision-based planning framework (GPF-BG) integrating our previous Global Path Follower (GPF) navigation system and a gap-based local planner using Bézier curves, so called $B$ézier Gap (BG). This BG-based trajectory synthesis can generate smooth trajectories and guarantee safety fo... |
Direct Angular Rate Estimation Without Event Motion-Compensation At High Angular Rates | https://ieeexplore.ieee.org/document/10160967/ | [
"Matthew Ng",
"Xinyu Cai",
"Shaohui Foong",
"Matthew Ng",
"Xinyu Cai",
"Shaohui Foong"
] | Feature-based methods are a popular method for camera state estimation using event cameras. Due to the spatiotemporal nature of events, all event images exhibit smearing of events analogous to motion blur for a camera under motion. As such, events must be motion compensated to derive a sharp event image. However, this presents a causality dilemma where motion prior is required to unsmear the event... |
StereoVAE: A lightweight stereo-matching system using embedded GPUs | https://ieeexplore.ieee.org/document/10160441/ | [
"Qiong Chang",
"Xiang Li",
"Xin Xu",
"Xin Liu",
"Yun Li",
"Jun Miyazaki",
"Qiong Chang",
"Xiang Li",
"Xin Xu",
"Xin Liu",
"Yun Li",
"Jun Miyazaki"
] | We propose a lightweight system for stereo-matching using embedded graphic processing units (GPUs). The proposed system overcomes the trade-off between accuracy and processing speed in stereo matching, thus further improving the matching accuracy while ensuring real-time processing. The basic idea is to construct a tiny neural network based on a variational autoencoder (VAE) to achieve the upscali... |
Learning Perception-Aware Agile Flight in Cluttered Environments | https://ieeexplore.ieee.org/document/10160563/ | [
"Yunlong Song",
"Kexin Shi",
"Robert Penicka",
"Davide Scaramuzza",
"Yunlong Song",
"Kexin Shi",
"Robert Penicka",
"Davide Scaramuzza"
] | Recently, neural control policies have outperformed existing model-based planning-and-control methods for autonomously navigating quadrotors through cluttered environments in minimum time. However, they are not perception aware, a crucial requirement in vision-based navigation due to the camera's limited field of view and the underactuated nature of a quadrotor. We propose a learning-based system ... |
NanoFlowNet: Real-time Dense Optical Flow on a Nano Quadcopter | https://ieeexplore.ieee.org/document/10161258/ | [
"Rik J. Bouwmeester",
"Federico Paredes-Vallés",
"Guido C. H. E. de Croon",
"Rik J. Bouwmeester",
"Federico Paredes-Vallés",
"Guido C. H. E. de Croon"
] | Nano quadcopters are small, agile, and cheap platforms that are well suited for deployment in narrow, cluttered environments. Due to their limited payload, these vehicles are highly constrained in processing power, rendering conventional vision-based methods for safe and autonomous navigation incompatible. Recent machine learning developments promise high-performance perception at low latency, whi... |
Zero-shot Active Visual Search (ZAVIS): Intelligent Object Search for Robotic Assistants | https://ieeexplore.ieee.org/document/10161345/ | [
"Jeongeun Park",
"Taerim Yoon",
"Jejoon Hong",
"Youngjae Yu",
"Matthew Pan",
"Sungjoon Choi",
"Jeongeun Park",
"Taerim Yoon",
"Jejoon Hong",
"Youngjae Yu",
"Matthew Pan",
"Sungjoon Choi"
] | In this paper, we focus on the problem of efficiently locating a target object described with free-form text using a mobile robot equipped with vision sensors (e.g., an RGBD camera). Conventional active visual search predefines a set of objects to search for, rendering these techniques restrictive in practice. To provide added flexibility in active visual searching, we propose a system where a use... |
Memory-based Exploration-value Evaluation Model for Visual Navigation | https://ieeexplore.ieee.org/document/10160665/ | [
"Yongquan Feng",
"Liyang Xu",
"Minglong Li",
"Ruochun Jin",
"Da Huang",
"Shaowu Yang",
"Wenjing Yang",
"Yongquan Feng",
"Liyang Xu",
"Minglong Li",
"Ruochun Jin",
"Da Huang",
"Shaowu Yang",
"Wenjing Yang"
] | We propose a hierarchical visual navigation solution, called Memory-based Exploration-value Evaluation Model (MEEM), to improve the agent's navigation performance. MEEM employs a hierarchical policy to tackle the challenge of sparse rewards, holds an episodic memory to store the historical information of the agent, and applies an Exploration-value Evaluation Model to calculate an exploration-value... |
ViNL: Visual Navigation and Locomotion Over Obstacles | https://ieeexplore.ieee.org/document/10160612/ | [
"Simar Kareer",
"Naoki Yokoyama",
"Dhruv Batra",
"Sehoon Ha",
"Joanne Truong",
"Simar Kareer",
"Naoki Yokoyama",
"Dhruv Batra",
"Sehoon Ha",
"Joanne Truong"
] | We present Visual Navigation and Locomotion over obstacles (ViNL), which enables a quadrupedal robot to navigate unseen apartments while stepping over small obstacles that lie in its path (e.g., shoes, toys, cables), similar to how humans and pets lift their feet over objects as they walk. ViNL consists of: (1) a visual navigation policy that outputs linear and angular velocity commands that guide... |
Zero-Shot Object Goal Visual Navigation | https://ieeexplore.ieee.org/document/10161289/ | [
"Qianfan Zhao",
"Lu Zhang",
"Bin He",
"Hong Qiao",
"Zhiyong Liu",
"Qianfan Zhao",
"Lu Zhang",
"Bin He",
"Hong Qiao",
"Zhiyong Liu"
] | Object goal visual navigation is a challenging task that aims to guide a robot to find the target object based on its visual observation, and the target is limited to the classes pre-defined in the training stage. However, in real households, there may exist numerous target classes that the robot needs to deal with, and it is hard for all of these classes to be contained in the training stage. To ... |
Monocular Simultaneous Localization and Mapping using Ground Textures | https://ieeexplore.ieee.org/document/10161558/ | [
"Kyle M. Hart",
"Brendan Englot",
"Ryan P. O'Shea",
"John D. Kelly",
"David Martinez",
"Kyle M. Hart",
"Brendan Englot",
"Ryan P. O'Shea",
"John D. Kelly",
"David Martinez"
] | Recent work has shown impressive localization performance using only images of ground textures taken with a downward facing monocular camera. This provides a reliable navigation method that is robust to feature sparse environments and challenging lighting conditions. However, these localization methods require an existing map for comparison. Our work aims to relax the need for a map by introducing... |
WAVN: Wide Area Visual Navigation for Large-scale, GPS-denied Environments | https://ieeexplore.ieee.org/document/10160511/ | [
"Damian M. Lyons",
"Mohamed Rahouti",
"Damian M. Lyons",
"Mohamed Rahouti"
] | This paper introduces a novel approach to GPS-denied visual navigation of a robot team over a wide (i.e., out of line of sight) area which we call WAVN (Wide Area Visual Navigation). Application domains include small-scale precision agriculture as well as exploration and surveillance. The proposed approach requires no exploration or map generation, merging, and updating, some of the most computati... |
ORORA: Outlier-Robust Radar Odometry | https://ieeexplore.ieee.org/document/10160997/ | [
"Hyungtae Lim",
"Kawon Han",
"Gunhee Shin",
"Giseop Kim",
"Songcheol Hong",
"Hyun Myung",
"Hyungtae Lim",
"Kawon Han",
"Gunhee Shin",
"Giseop Kim",
"Songcheol Hong",
"Hyun Myung"
] | Radar sensors are emerging as solutions for perceiving surroundings and estimating ego-motion in extreme weather conditions. Unfortunately, radar measurements are noisy and suffer from mutual interference, which degrades the performance of feature extraction and matching, triggering imprecise matching pairs, which are referred to as outliers. To tackle the effect of outliers on radar odometry, $a$... |
AdaSfM: From Coarse Global to Fine Incremental Adaptive Structure from Motion | https://ieeexplore.ieee.org/document/10161140/ | [
"Yu Chen",
"Zihao Yu",
"Shu Song",
"Tianning Yu",
"Jianming Li",
"Gim Hee Lee",
"Yu Chen",
"Zihao Yu",
"Shu Song",
"Tianning Yu",
"Jianming Li",
"Gim Hee Lee"
] | Despite the impressive results achieved by many existing Structure from Motion (SfM) approaches, there is still a need to improve the robustness, accuracy, and efficiency on large-scale scenes with many outlier matches and sparse view graphs. In this paper, we propose AdaSfM: a coarse-to-fine adaptive SfM approach that is scalable to large-scale and challenging datasets. Our approach first does a ... |
Robust Map Fusion with Visual Attention Utilizing Multi-agent Rendezvous | https://ieeexplore.ieee.org/document/10161072/ | [
"Jaein Kim",
"Dong-Sig Han",
"Byoung-Tak Zhang",
"Jaein Kim",
"Dong-Sig Han",
"Byoung-Tak Zhang"
] | The map fusion for multi-robot simultaneous localization and mapping (SLAM) consistently combines robot maps built independently into the global map. An established approach to map fusion is utilizing rendezvous, which refers to an encounter between multiple agents, to calculate the transformation into the global map. However, previous works using rendezvous have a limitation in that they are unre... |
Wi-Closure: Reliable and Efficient Search of Inter-robot Loop Closures Using Wireless Sensing | https://ieeexplore.ieee.org/document/10161285/ | [
"Weiying Wang",
"Anne Kemmeren",
"Daniel Son",
"Javier Alonso-Mora",
"Stephanie Gil",
"Weiying Wang",
"Anne Kemmeren",
"Daniel Son",
"Javier Alonso-Mora",
"Stephanie Gil"
] | In this paper we propose a novel algorithm, Wi-Closure, to improve the computational efficiency and robustness of loop closure detection in multi-robot SLAM. Our approach decreases the computational overhead of classical approaches by pruning the search space of potential loop closures, prior to evaluation by a typical multi-robot SLAM pipeline. Wi-Closure achieves this by identifying candidates t... |
COVINS-G: A Generic Back-end for Collaborative Visual-Inertial SLAM | https://ieeexplore.ieee.org/document/10160938/ | [
"Manthan Patel",
"Marco Karrer",
"Philipp Bänninger",
"Margarita Chli",
"Manthan Patel",
"Marco Karrer",
"Philipp Bänninger",
"Margarita Chli"
] | Collaborative SLAM is at the core of perception in multi-robot systems as it enables the co-localization of the team of robots in a common reference frame, which is of vital importance for any coordination amongst them. The paradigm of a centralized architecture is well established, with the robots (i.e. agents) running Visual-Inertial Odometry (VIO) onboard while communicating relevant data, such... |
PIEKF-VIWO: Visual-Inertial-Wheel Odometry using Partial Invariant Extended Kalman Filter | https://ieeexplore.ieee.org/document/10160380/ | [
"Tong Hua",
"Tao Li",
"Ling Pei",
"Tong Hua",
"Tao Li",
"Ling Pei"
] | Invariant Extended Kalman Filter (IEKF) has been successfully applied in Visual-inertial Odometry (VIO) as an advanced achievement of Kalman filter, showing great potential in sensor fusion. In this paper, we propose partial IEKF (PIEKF), which only incorporates rotation-velocity state into the Lie group structure and apply it for Visual-Inertial-Wheel Odometry (VIWO) to improve positioning accura... |
Observability-Aware Active Extrinsic Calibration of Multiple Sensors | https://ieeexplore.ieee.org/document/10160636/ | [
"Shida Xu",
"Jonatan Scharff Willners",
"Ziyang Hong",
"Kaicheng Zhang",
"Yvan R. Petillot",
"Sen Wang",
"Shida Xu",
"Jonatan Scharff Willners",
"Ziyang Hong",
"Kaicheng Zhang",
"Yvan R. Petillot",
"Sen Wang"
] | The extrinsic parameters play a crucial role in multi-sensor fusion, such as visual-inertial Simultaneous Localization and Mapping(SLAM), as they enable the accurate alignment and integration of measurements from different sensors. However, extrinsic calibration is challenging in scenarios, such as underwater, where in-view structures are scanty and visibility is limited, causing incorrect extrins... |
Learning Continuous Control Policies for Information-Theoretic Active Perception | https://ieeexplore.ieee.org/document/10160455/ | [
"Pengzhi Yang",
"Yuhan Liu",
"Shumon Koga",
"Arash Asgharivaskasi",
"Nikolay Atanasov",
"Pengzhi Yang",
"Yuhan Liu",
"Shumon Koga",
"Arash Asgharivaskasi",
"Nikolay Atanasov"
] | This paper proposes a method for learning continuous control policies for exploration and active landmark localization. We consider a mobile robot detecting landmarks within a limited sensing range, and tackle the problem of learning a control policy that maximizes the mutual information between the landmark states and the sensor observations. We employ a Kalman filter to convert the partially obs... |
Structure PLP-SLAM: Efficient Sparse Mapping and Localization using Point, Line and Plane for Monocular, RGB-D and Stereo Cameras | https://ieeexplore.ieee.org/document/10160452/ | [
"Fangwen Shu",
"Jiaxuan Wang",
"Alain Pagani",
"Didier Stricker",
"Fangwen Shu",
"Jiaxuan Wang",
"Alain Pagani",
"Didier Stricker"
] | This paper presents a visual SLAM system that uses both points and lines for robust camera localization, and simultaneously performs a piece-wise planar reconstruction (PPR) of the environment to provide a structural map in real-time. One of the biggest challenges in parallel tracking and mapping with a monocular camera is to keep the scale consistent when reconstructing the geometric primitives. ... |
Rotation Synchronization via Deep Matrix Factorization | https://ieeexplore.ieee.org/document/10160548/ | [
"GK Tejus",
"Giacomo Zara",
"Paolo Rota",
"Andrea Fusiello",
"Elisa Ricci",
"Federica Arrigoni",
"GK Tejus",
"Giacomo Zara",
"Paolo Rota",
"Andrea Fusiello",
"Elisa Ricci",
"Federica Arrigoni"
] | In this paper we address the rotation synchronization problem, where the objective is to recover absolute rotations starting from pairwise ones, where the unknowns and the measures are represented as nodes and edges of a graph, respectively. This problem is an essential task for structure from motion and simultaneous localization and mapping. We focus on the formulation of synchronization via neur... |
Object-based SLAM utilizing unambiguous pose parameters considering general symmetry types | https://ieeexplore.ieee.org/document/10160309/ | [
"Taekbeom Lee",
"Youngseok Jang",
"H. Jin Kim",
"Taekbeom Lee",
"Youngseok Jang",
"H. Jin Kim"
] | Existence of symmetric objects, whose observation at different viewpoints can be identical, can deteriorate the performance of simultaneous localization and mapping (SLAM). This work proposes a system for robustly optimizing the pose of cameras and objects even in the presence of symmetric objects. We classify objects into three categories depending on their symmetry characteristics, which is effi... |
Towards View-invariant and Accurate Loop Detection Based on Scene Graph | https://ieeexplore.ieee.org/document/10161166/ | [
"Chuhao Liu",
"Shaojie Shen",
"Chuhao Liu",
"Shaojie Shen"
] | Loop detection plays a key role in visual Si-multaneous Localization and Mapping (SLAM) by correcting the accumulated pose drift. In indoor scenarios, the richly distributed semantic landmarks are view-point invariant and hold strong descriptive power in loop detection. The current semantic-aided loop detection embeds the topology between semantic instances to search a loop. However, current seman... |
Compliant microgripper using soft polymer actuator | https://ieeexplore.ieee.org/document/10160797/ | [
"Jung-Hwan Youn",
"Je-sung Koh",
"Ki-Uk Kyung",
"Jung-Hwan Youn",
"Je-sung Koh",
"Ki-Uk Kyung"
] | Miniaturization of robotic grippers enables precise manipulation of small-size objects. However, most microgrippers are actuated by rigid actuators, and thus retain challenges such as micro-fabrication, complex structure, and lack of compliance. Here, we present a compliant microgripper driven by a soft polymer actuator. The proposed millimeter-scale soft polymer actuator can produce a linear disp... |
Development of Hydraulically-driven Soft Hand for Handling Heavy Vegetables and its Experimental Evaluation | https://ieeexplore.ieee.org/document/10160629/ | [
"Osamu Azami",
"Kyosuke Ishibashi",
"Mitsuo Komagata",
"Ko Yamamoto",
"Osamu Azami",
"Kyosuke Ishibashi",
"Mitsuo Komagata",
"Ko Yamamoto"
] | In this study, we develop a hydraulically-driven soft robotic hand for handling heavy vegetables in a vegetable factory and report its experimental validations. The working population in agriculture is decreasing worldwide, creating a lot of demands for the robotic automation in harvest and trans-portation of agricultural produces. In particular, a vegetable factory deals with large and heavy vege... |
Two-Stage Grasping: A New Bin Picking Framework for Small Objects | https://ieeexplore.ieee.org/document/10160608/ | [
"Hanwen Cao",
"Jianshu Zhou",
"Junda Huang",
"Yichuan Li",
"Ng Cheng Meng",
"Rui Cao",
"Qi Dou",
"Yunhui Liu",
"Hanwen Cao",
"Jianshu Zhou",
"Junda Huang",
"Yichuan Li",
"Ng Cheng Meng",
"Rui Cao",
"Qi Dou",
"Yunhui Liu"
] | This paper proposes a novel bin picking framework, two-stage grasping, aiming at precise grasping of cluttered small objects. Object density estimation and rough grasping are conducted in the first stage. Fine segmentation, detection, grasping, and pushing are performed in the second stage. A small object bin picking system has been realized to exhibit the concept of two-stage grasping. Experiment... |
Electroadhesive Auxetics as Programmable Layer Jamming Skins for Formable Crust Shape Displays | https://ieeexplore.ieee.org/document/10161500/ | [
"Ahad M. Rauf",
"Jack S. Bernardo",
"Sean Follmer",
"Ahad M. Rauf",
"Jack S. Bernardo",
"Sean Follmer"
] | Shape displays are a class of haptic devices that enable whole-hand haptic exploration of 3D surfaces. However, their scalability is limited by the mechanical complexity and high cost of traditional actuator arrays. In this paper, we propose using electroadhesive auxetic skins as a strain-limiting layer to create programmable shape change in a continuous (“formable crust”) shape display. Auxetic s... |
Navigating Soft Robots through Wireless Heating | https://ieeexplore.ieee.org/document/10161540/ | [
"Yiwen Song",
"Mason Zadan",
"Kushaan Misra",
"Zefang Li",
"Jingxian Wang",
"Carmel Majidi",
"Swarun Kumar",
"Yiwen Song",
"Mason Zadan",
"Kushaan Misra",
"Zefang Li",
"Jingxian Wang",
"Carmel Majidi",
"Swarun Kumar"
] | Recent work on battery-free soft robotics has demonstrated the use of liquid crystal elastomers (LCE) to build shape-changing materials activated by applied external heat. However, sources of heat must typically be in direct field-of-view of the robot (i.e. NIR, laser, and visual light EM sources or convective heats guns), be tethered to an external power supply (i.e. thermoelectric heating or res... |
Fast Untethered Soft Robotic Crawler with Elastic Instability | https://ieeexplore.ieee.org/document/10160610/ | [
"Zechen Xiong",
"Yufeng Su",
"Hod Lipson",
"Zechen Xiong",
"Yufeng Su",
"Hod Lipson"
] | Enlightened by the fast-running gait of mammals like cheetahs and wolves, we design and fabricate a single-actuated untethered compliant robot that is capable of galloping at a speed of 313 mm/s or 1.56 body length per second (BL/s), faster than most reported soft crawlers in mm/s and BL/s. An in-plane prestressed hair clip mechanism (HCM) made up of semirigid materials, i.e. plastics are used as ... |
An Underwater Jet-Propulsion Soft Robot with High Flexibility Driven by Water Hydraulics | https://ieeexplore.ieee.org/document/10160331/ | [
"Siqing Chen",
"He Xu",
"Xiao Xiong",
"Ben Lu",
"Siqing Chen",
"He Xu",
"Xiao Xiong",
"Ben Lu"
] | Compared with rigid robots, soft robots have the advantages of inherent compliance, high adaptability, and impact tolerance. Many researchers are very interested in the motion design of soft robot underwater. In this paper, inspired by the method of octopus propulsion, a jet propulsion unit with 80% soft materials driven by pressure is designed. It can change the volume of its cavity to absorb and... |
Force/Torque Sensing for Soft Grippers using an External Camera | https://ieeexplore.ieee.org/document/10161257/ | [
"Jeremy A. Collins",
"Patrick Grady",
"Charles C. Kemp",
"Jeremy A. Collins",
"Patrick Grady",
"Charles C. Kemp"
] | Robotic manipulation can benefit from wrist-mounted force/torque (F/T) sensors, but conventional F/T sensors can be expensive, difficult to install, and damaged by high loads. We present Visual Force/Torque Sensing (VFTS), a method that visually estimates the 6-axis F/T measurement that would be reported by a conventional F/T sensor. In contrast to approaches that sense loads using internal camera... |
Data-Driven Spectral Submanifold Reduction for Nonlinear Optimal Control of High-Dimensional Robots | https://ieeexplore.ieee.org/document/10160418/ | [
"John Irvin Alora",
"Mattia Cenedese",
"Edward Schmerling",
"George Haller",
"Marco Pavone",
"John Irvin Alora",
"Mattia Cenedese",
"Edward Schmerling",
"George Haller",
"Marco Pavone"
] | Modeling and control of high-dimensional, nonlinear robotic systems remains a challenging task. While various model- and learning-based approaches have been proposed to address these challenges, they broadly lack generalizability to different control tasks and rarely preserve the structure of the dynamics. In this work, we propose a new, data-driven approach for extracting control-oriented, low-di... |
Control of Shape Memory Alloy Actuator via Electrostatic Capacitive Sensor for Meso-scale Mirror Tilting System | https://ieeexplore.ieee.org/document/10160710/ | [
"Baekgyeom Kim",
"Doohoe Lee",
"Dongjin Kim",
"Seungyong Han",
"Daeshik Kang",
"Uikyum Kim",
"Je-sung Koh",
"Baekgyeom Kim",
"Doohoe Lee",
"Dongjin Kim",
"Seungyong Han",
"Daeshik Kang",
"Uikyum Kim",
"Je-sung Koh"
] | Shape memory alloy (SMA) has superior actuation capability over the limit of the scale. However, inherently low controllability is a primary issue that hinders practical usage. To address this challenge, this paper presents an SMA-based artificial muscle actuator capable of the displacement sensing through the capacitive sensor. To realize sensing capability, the theoretical model-based design and... |
Data-efficient Non-parametric Modelling and Control of an Extensible Soft Manipulator | https://ieeexplore.ieee.org/document/10161275/ | [
"Mohammadreza Kasaei",
"Keyhan Kouhkiloui Babarahmati",
"Zhibin Li",
"Mohsen Khadem",
"Mohammadreza Kasaei",
"Keyhan Kouhkiloui Babarahmati",
"Zhibin Li",
"Mohsen Khadem"
] | Data-driven approaches have shown promising results in modeling and controlling robots, specifically soft and flexible robots where developing physics-based models are more challenging. However, these methods often require a large number of real data, and gathering such data is time-consuming and can damage the robot as well. This paper proposed a novel data-efficient and non-parametric approach t... |
Analytical Approach to Inverse Kinematics of Single Section Mobile Continuum Manipulators | https://ieeexplore.ieee.org/document/10160825/ | [
"Audrey Hyacinthe Bouyom Boutchouang",
"Achille Melingui",
"J.J.B. Mvogo Ahanda",
"Xinrui Yang",
"Othman Lakhal",
"Frederic Biya Motto",
"Rochdi Merzouki",
"Audrey Hyacinthe Bouyom Boutchouang",
"Achille Melingui",
"J.J.B. Mvogo Ahanda",
"Xinrui Yang",
"Othman Lakhal",
"Frederic Biya Motto",
"Rochdi Merzouki"
] | This paper proposes a novel mathematical solution to solve the inverse kinematics (IK) of single section mobile continuum manipulators (SSMCMs). Thus, to achieve a given pose of the end-effector (EE), the proposed mathematical solution consists in determining the position and orientation parameters of the mobile platform and of a single section of the continuum manipulator. As advantages, the prop... |
A Fast Geometric Framework for Dynamic Cosserat Rods with Discrete Actuated Joints | https://ieeexplore.ieee.org/document/10160301/ | [
"Hossain Samei",
"Robin Chhabra",
"Hossain Samei",
"Robin Chhabra"
] | Current dynamical models of Cosserat rods often use the finite element method limited by computational efficiency or the finite difference method in a Cartesian framework with a compromise to accuracy. We employ the finite difference method in a geometric framework to develop solutions that are both computationally efficient and accurate. A numerical study is conducted on various backward-differen... |
Data-Driven Estimation of Forces Along the Backbone of Concentric Tube Continuum Robots | https://ieeexplore.ieee.org/document/10161391/ | [
"Heiko Donat",
"Pouya Mohammadi",
"Jochen Steil",
"Heiko Donat",
"Pouya Mohammadi",
"Jochen Steil"
] | Concentric tube continuum robots (CTCRs) belong to the family of continuum robots with applications in minimally invasive surgeries. Because of this application domain, measuring the external forces along the body of the robot is paramount. CTCRs are made up of thin elastic rods and are intended to be applied inside the human body, where conventional sensor-based measurements are not feasible. Con... |
Bootstrapping the Dynamic Gait Controller of the Soft Robot Arm | https://ieeexplore.ieee.org/document/10160579/ | [
"Rudolf Szadkowski",
"Muhammad Sunny Nazeer",
"Matteo Cianchetti",
"Egidio Falotico",
"Jan Faigl",
"Rudolf Szadkowski",
"Muhammad Sunny Nazeer",
"Matteo Cianchetti",
"Egidio Falotico",
"Jan Faigl"
] | In this paper, we propose a novel dynamic gait controller for the repetitive behavior of soft robot manipulators performing routine tasks. Compliance with soft robots is advantageous when the robot interacts with living organisms and other fragile objects. However, predicting and controlling repetitive behavior is challenging because of hysteresis and non-linear dynamics governing the interactions... |
Model Based Position Control of Soft Hydraulic Actuators | https://ieeexplore.ieee.org/document/10161573/ | [
"Mark Runciman",
"Enrico Franco",
"James Avery",
"Ferdinando Rodriguez y Baena",
"George Mylonas",
"Mark Runciman",
"Enrico Franco",
"James Avery",
"Ferdinando Rodriguez y Baena",
"George Mylonas"
] | In this article, we investigate the model based position control of soft hydraulic actuators arranged in an an-tagonistic pair. A dynamical model of the system is constructed by employing the port-Hamiltonian formulation. A control algorithm is designed with an energy shaping approach, which accounts for the pressure dynamics of the fluid. A nonlinear observer is included to compensate the effect ... |
Multiple Surgical Instruments Tracking-By-Prediction With Graph Hierarchy | https://ieeexplore.ieee.org/document/10160701/ | [
"Rui Guo",
"Xi Liu",
"Ziheng Wang",
"Anthony Jarc",
"Rui Guo",
"Xi Liu",
"Ziheng Wang",
"Anthony Jarc"
] | Current research strive has tremendously changed the horizon of computer vision tasks in multiple agents tracking. Nevertheless, in the research of robotic assisted surgery, reliable surgical instrument tracking imposes challenge due to the high complexity in state modeling for the hierarchical structure of the instrument versus de-coupling the spatial-temporal correlations naturally embedded in t... |
Fully Robotized 3D Ultrasound Image Acquisition for Artery | https://ieeexplore.ieee.org/document/10161148/ | [
"Mingcong Chen",
"Yuanrui Huang",
"Jian Chen",
"Tongxi Zhou",
"Jiuan Chen",
"Hongbin Liu",
"Mingcong Chen",
"Yuanrui Huang",
"Jian Chen",
"Tongxi Zhou",
"Jiuan Chen",
"Hongbin Liu"
] | Current imaging of the artery relies primarily on computed tomography angiography (CTA), which requires contrast injections and exposure to radiation. In this paper, we present a method for fully autonomous artery 3D image acquisition using a linear ultrasound (US) probe and a 6 DoFs robot arm with a 3D camera. Robotic vessel acquisition can minimize tissue deformation and permit the reproduction ... |
Depth Estimation for Oral Cavity by Shape from Shading with Endoscope | https://ieeexplore.ieee.org/document/10160925/ | [
"Xi Wu",
"Gangtie Zheng",
"Xi Wu",
"Gangtie Zheng"
] | Tracheal intubation for patients with respiratory infectious diseases requires doctors to wear a full set of protective clothing, which takes a certain time. How to protect doctors from infection when facing an emergency operation has become an important issue. The intubation robot may solve this contradiction. To provide visual information for real-time path planning for robotic intubation, this ... |
Dynamic Interactive Relation Capturing via Scene Graph Learning for Robotic Surgical Report Generation | https://ieeexplore.ieee.org/document/10160647/ | [
"Hongqiu Wang",
"Yueming Jin",
"Lei Zhu",
"Hongqiu Wang",
"Yueming Jin",
"Lei Zhu"
] | For robot-assisted surgery, an accurate surgical report reflects clinical operations during surgery and helps document entry tasks, post-operative analysis and follow-up treatment. It is a challenging task due to many complex and diverse interactions between instruments and tissues in the surgical scene. Although existing surgical report generation methods based on deep learning have achieved larg... |
Reslicing Ultrasound Images for Data Augmentation and Vessel Reconstruction | https://ieeexplore.ieee.org/document/10160651/ | [
"Cecilia G. Morales",
"Jason Yao",
"Tejas Rane",
"Robert Edman",
"Howie Choset",
"Artur Dubrawski",
"Cecilia G. Morales",
"Jason Yao",
"Tejas Rane",
"Robert Edman",
"Howie Choset",
"Artur Dubrawski"
] | Robot-guided vascular access has the potential to deliver urgent medical care in situations where medical personnel are unavailable. However, this technique requires accurate and reliable segmentation of anatomical landmarks in the body. For the ultrasound imaging modality, obtaining large amounts of training data for a segmentation model is time-consuming and expensive. This paper introduces RESU... |
Expert-Agnostic Ultrasound Image Quality Assessment using Deep Variational Clustering | https://ieeexplore.ieee.org/document/10160435/ | [
"Deepak Raina",
"Dimitrios Ntentia",
"SH Chandrashekhara",
"Richard Voyles",
"Subir Kumar Saha",
"Deepak Raina",
"Dimitrios Ntentia",
"SH Chandrashekhara",
"Richard Voyles",
"Subir Kumar Saha"
] | Ultrasound imaging is a commonly used modality for several diagnostic and therapeutic procedures. However, the diagnosis by ultrasound relies heavily on the quality of images assessed manually by sonographers, which diminishes the objectivity of the diagnosis and makes it operator-dependent. The supervised learning-based methods for automated quality assessment require manually annotated datasets,... |
A Curvature and Trajectory Optimization-based 3D Surface Reconstruction Pipeline for Ultrasound Trajectory Generation | https://ieeexplore.ieee.org/document/10161513/ | [
"Ananya Bal",
"Ashutosh Gupta",
"Fnu Abhimanyu",
"John Galeotti",
"Howie Choset",
"Ananya Bal",
"Ashutosh Gupta",
"Fnu Abhimanyu",
"John Galeotti",
"Howie Choset"
] | Ultrasound scanning is an efficient imaging modality preferred for quick medical procedures. However, due to the lack of skilled sonographers, researchers have developed many Robotic Ultrasound System (RUS) prototypes for various procedures. Most of these systems have a human-in-the-loop and require an expert to point the robot to the region of the subject to be scanned. Only a few systems try to ... |
Graph-based Pose Estimation of Texture-less Surgical Tools for Autonomous Robot Control | https://ieeexplore.ieee.org/document/10160287/ | [
"Haozheng Xu",
"Mark Runciman",
"João Cartucho",
"Chi Xu",
"Stamatia Giannarou",
"Haozheng Xu",
"Mark Runciman",
"João Cartucho",
"Chi Xu",
"Stamatia Giannarou"
] | In Robot-assisted Minimally Invasive Surgery (RMIS), the estimation of the pose of surgical tools is crucial for applications such as surgical navigation, visual servoing, autonomous robotic task execution and augmented reality. A plethora of hardware-based and vision-based methods have been proposed in the literature. However, direct application of these methods to RMIS has significant limitation... |
Adaptive Sampling-based Particle Filter for Visual-inertial Gimbal in the Wild | https://ieeexplore.ieee.org/document/10160395/ | [
"Xueyang Kang",
"Ariel Herrera",
"Henry Lema",
"Esteban Valencia",
"Patrick Vandewalle",
"Xueyang Kang",
"Ariel Herrera",
"Henry Lema",
"Esteban Valencia",
"Patrick Vandewalle"
] | In this paper, we present a Computer Vision (CV) based tracking and fusion algorithm, dedicated to a 3D printed gimbal system on drones flying in nature. The whole gimbal system can stabilize the camera orientation robustly in challenging environments by using skyline and ground plane as references. Our main contributions are the following: a) a light-weight Resnet-18 backbone network model was tr... |
DAMS-LIO: A Degeneration-Aware and Modular Sensor-Fusion LiDAR-inertial Odometry | https://ieeexplore.ieee.org/document/10160971/ | [
"Fuzhang Han",
"Han Zheng",
"Wenjun Huang",
"Rong Xiong",
"Yue Wang",
"Yanmei Jiao",
"Fuzhang Han",
"Han Zheng",
"Wenjun Huang",
"Rong Xiong",
"Yue Wang",
"Yanmei Jiao"
] | With robots being deployed in increasingly complex environments like underground mines and planetary surfaces, the multi-sensor fusion method has gained more and more attention which is a promising solution to state estimation in the such scene. The fusion scheme is a central component of these methods. In this paper, a light-weight iEKF-based LiDAR-inertial odometry system is presented, which uti... |
ImmFusion: Robust mmWave-RGB Fusion for 3D Human Body Reconstruction in All Weather Conditions | https://ieeexplore.ieee.org/document/10161428/ | [
"Anjun Chen",
"Xiangyu Wang",
"Kun Shi",
"Shaohao Zhu",
"Bin Fang",
"Yingfeng Chen",
"Jiming Chen",
"Yuchi Huo",
"Qi Ye",
"Anjun Chen",
"Xiangyu Wang",
"Kun Shi",
"Shaohao Zhu",
"Bin Fang",
"Yingfeng Chen",
"Jiming Chen",
"Yuchi Huo",
"Qi Ye"
] | 3D human reconstruction from RGB images achieves decent results in good weather conditions but degrades dramatically in rough weather. Complementary, mmWave radars have been employed to reconstruct 3D human joints and meshes in rough weather. However, combining RGB and mmWave signals for robust all-weather 3D human reconstruction is still an open challenge, given the sparse nature of mmWave and th... |
Simple-BEV: What Really Matters for Multi-Sensor BEV Perception? | https://ieeexplore.ieee.org/document/10160831/ | [
"Adam W. Harley",
"Zhaoyuan Fang",
"Jie Li",
"Rares Ambrus",
"Katerina Fragkiadaki",
"Adam W. Harley",
"Zhaoyuan Fang",
"Jie Li",
"Rares Ambrus",
"Katerina Fragkiadaki"
] | Building 3D perception systems for autonomous vehicles that do not rely on high-density LiDAR is a critical research problem because of the expense of LiDAR systems compared to cameras and other sensors. Recent research has developed a variety of camera-only methods, where features are differentiably “lifted” from the multi-camera images onto the 2D ground plane, yielding a “bird's eye view” (BEV)... |
MVFusion: Multi-View 3D Object Detection with Semantic-aligned Radar and Camera Fusion | https://ieeexplore.ieee.org/document/10161329/ | [
"Zizhang Wu",
"Guilian Chen",
"Yuanzhu Gan",
"Lei Wang",
"Jian Pu",
"Zizhang Wu",
"Guilian Chen",
"Yuanzhu Gan",
"Lei Wang",
"Jian Pu"
] | Multi-view radar-camera fused 3D object detection provides a farther detection range and more helpful features for autonomous driving, especially under adverse weather. The current radar-camera fusion methods deliver kinds of designs to fuse radar information with camera data. However, these fusion approaches usually adopt the straightforward concatenation operation between multi-modal features, w... |
BEVFusion: Multi-Task Multi-Sensor Fusion with Unified Bird's-Eye View Representation | https://ieeexplore.ieee.org/document/10160968/ | [
"Zhijian Liu",
"Haotian Tang",
"Alexander Amini",
"Xinyu Yang",
"Huizi Mao",
"Daniela L. Rus",
"Song Han",
"Zhijian Liu",
"Haotian Tang",
"Alexander Amini",
"Xinyu Yang",
"Huizi Mao",
"Daniela L. Rus",
"Song Han"
] | Multi-sensor fusion is essential for an accurate and reliable autonomous driving system. Recent approaches are based on point-level fusion: augmenting the LiDAR point cloud with camera features. However, the camera-to-LiDAR projection throws away the semantic density of camera features, hindering the effectiveness of such methods, especially for semantic-oriented tasks (such as 3D scene segmentati... |
Fusing Event-based Camera and Radar for SLAM Using Spiking Neural Networks with Continual STDP Learning | https://ieeexplore.ieee.org/document/10160681/ | [
"Ali Safa",
"Tim Verbelen",
"Ilja Ocket",
"André Bourdoux",
"Hichem Sahli",
"Francky Catthoor",
"Georges Gielen",
"Ali Safa",
"Tim Verbelen",
"Ilja Ocket",
"André Bourdoux",
"Hichem Sahli",
"Francky Catthoor",
"Georges Gielen"
] | This work proposes a first-of-its-kind SLAM architecture fusing an event-based camera and a Frequency Modulated Continuous Wave (FMCW) radar for drone navigation. Each sensor is processed by a bio-inspired Spiking Neural Network (SNN) with continual Spike-Timing-Dependent Plasticity (STDP) learning, as observed in the brain. In contrast to most learning-based SLAM systems, our method does not requ... |
AI-Based Multi-Object Relative State Estimation with Self-Calibration Capabilities | https://ieeexplore.ieee.org/document/10161375/ | [
"Thomas Jantos",
"Christian Brommer",
"Eren Allak",
"Stephan Weiss",
"Jan Steinbrener",
"Thomas Jantos",
"Christian Brommer",
"Eren Allak",
"Stephan Weiss",
"Jan Steinbrener"
] | The capability to extract task specific, semantic information from raw sensory data is a crucial requirement for many applications of mobile robotics. Autonomous inspection of critical infrastructure with Unmanned Aerial Vehicles (UAVs), for example, requires precise navigation relative to the structure that is to be inspected. Recently, Artificial Intelligence (AI)-based methods have been shown t... |
Are All Point Clouds Suitable for Completion? Weakly Supervised Quality Evaluation Network for Point Cloud Completion | https://ieeexplore.ieee.org/document/10160226/ | [
"Jieqi Shi",
"Peiliang Li",
"Xiaozhi Chen",
"Shaojie Shen",
"Jieqi Shi",
"Peiliang Li",
"Xiaozhi Chen",
"Shaojie Shen"
] | In the practical application of point cloud completion tasks, real data quality is usually much worse than the CAD datasets used for training. A small amount of noisy data will usually significantly impact the overall system's accuracy. In this paper, we propose a quality evaluation network to score the point clouds and help judge the quality of the point cloud before applying the completion model... |
From Semi-supervised to Omni-supervised Room Layout Estimation Using Point Clouds | https://ieeexplore.ieee.org/document/10161273/ | [
"Huan-ang Gao",
"Beiwen Tian",
"Pengfei Li",
"Xiaoxue Chen",
"Hao Zhao",
"Guyue Zhou",
"Yurong Chen",
"Hongbin Zha",
"Huan-ang Gao",
"Beiwen Tian",
"Pengfei Li",
"Xiaoxue Chen",
"Hao Zhao",
"Guyue Zhou",
"Yurong Chen",
"Hongbin Zha"
] | Room layout estimation is a long-existing robotic vision task that benefits both environment sensing and motion planning. However, layout estimation using point clouds (PCs) still suffers from data scarcity due to annotation difficulty. As such, we address the semi-supervised setting of this task based upon the idea of model exponential moving averaging. But adapting this scheme to the state-of-th... |
Few-Shot Point Cloud Semantic Segmentation via Contrastive Self-Supervision and Multi-Resolution Attention | https://ieeexplore.ieee.org/document/10160429/ | [
"Jiahui Wang",
"Haiyue Zhu",
"Haoren Guo",
"Abdullah Al Mamun",
"Cheng Xiang",
"Tong Heng Lee",
"Jiahui Wang",
"Haiyue Zhu",
"Haoren Guo",
"Abdullah Al Mamun",
"Cheng Xiang",
"Tong Heng Lee"
] | This paper presents an effective few-shot point cloud semantic segmentation approach for real-world applications. Existing few-shot segmentation methods on point cloud heavily rely on the fully-supervised pretrain with large annotated datasets, which causes the learned feature extraction bias to those pretrained classes. However, as the purpose of few-shot learning is to handle unknown/unseen clas... |
Scene-level Point Cloud Colorization with Semantics-and-geometry-aware Networks | https://ieeexplore.ieee.org/document/10161469/ | [
"Rongrong Gao",
"Tian-Zhu Xiang",
"Chenyang Lei",
"Jaesik Park",
"Qifeng Chen",
"Rongrong Gao",
"Tian-Zhu Xiang",
"Chenyang Lei",
"Jaesik Park",
"Qifeng Chen"
] | In robotic applications, we often obtain tons of 3D point cloud data without color information, and it is difficult to visualize point clouds in a meaningful and colorful way. Can we colorize 3D point clouds for better visualization? Existing deep learning-based colorization methods usually only take simple 3D objects as input, and their performance for complex scenes with multiple objects is limi... |
Deep Interactive Full Transformer Framework for Point Cloud Registration | https://ieeexplore.ieee.org/document/10160863/ | [
"Guangyan Chen",
"Meiling Wang",
"Qingxiang Zhang",
"Li Yuan",
"Tong Liu",
"Yufeng Yue",
"Guangyan Chen",
"Meiling Wang",
"Qingxiang Zhang",
"Li Yuan",
"Tong Liu",
"Yufeng Yue"
] | Point cloud registration is a crucial technology in the fields of robotics and computer vision. Despite the significant advances in point cloud registration enabled by Transformer-based methods, limitations persist due to indistinct feature extraction, noise sensitivity, and outlier handling. These limitations stem from three factors: (1) the inefficiency of convolutional neural networks (CNNs) to... |
Coarse-to-Fine Point Cloud Registration with SE(3)-Equivariant Representations | https://ieeexplore.ieee.org/document/10161141/ | [
"Cheng-Wei Lin",
"Tung-I Chen",
"Hsin-Ying Lee",
"Wen-Chin Chen",
"Winston H. Hsu",
"Cheng-Wei Lin",
"Tung-I Chen",
"Hsin-Ying Lee",
"Wen-Chin Chen",
"Winston H. Hsu"
] | Point cloud registration is a crucial problem in computer vision and robotics. Existing methods either rely on matching local geometric features, which are sensitive to the pose differences, or leverage global shapes, which leads to inconsistency when facing distribution variances such as partial overlapping. Combining the advantages of both types of methods, we adopt a coarse-to-fine pipeline tha... |
LiDAR-SGM: Semi-Global Matching on LiDAR Point Clouds and Their Cost-Based Fusion into Stereo Matching | https://ieeexplore.ieee.org/document/10160775/ | [
"Bianca Forkel",
"Hans-Joachim Wuensche",
"Bianca Forkel",
"Hans-Joachim Wuensche"
] | Stereo matching can be used to estimate dense but inaccurate depth information for each pixel of a camera image. A LiDAR can provide accurate but sparse depth measurements. The fusion of both can combine their advantages. We propose an efficient method for fusing stereo and LiDAR at the cost level of Semi-Global Matching. It significantly improves density and accuracy of the estimated disparities ... |
Segregator: Global Point Cloud Registration with Semantic and Geometric Cues | https://ieeexplore.ieee.org/document/10160798/ | [
"Pengyu Yin",
"Shenghai Yuan",
"Haozhi Cao",
"Xingyu Ji",
"Shuyang Zhang",
"Lihua Xie",
"Pengyu Yin",
"Shenghai Yuan",
"Haozhi Cao",
"Xingyu Ji",
"Shuyang Zhang",
"Lihua Xie"
] | This paper presents Segregator, a global point cloud registration framework that exploits both semantic information and geometric distribution to efficiently build up outlier-robust correspondences and search for inliers. Current state-of-the-art algorithms rely on point features to set up putative correspondences and refine them by employing pair-wise distance consistency checks. However, such a ... |
StereoPose: Category-Level 6D Transparent Object Pose Estimation from Stereo Images via Back-View NOCS | https://ieeexplore.ieee.org/document/10160780/ | [
"Kai Chen",
"Stephen James",
"Congying Sui",
"Yun-Hui Liu",
"Pieter Abbeel",
"Qi Dou",
"Kai Chen",
"Stephen James",
"Congying Sui",
"Yun-Hui Liu",
"Pieter Abbeel",
"Qi Dou"
] | Most existing methods for category-level pose estimation rely on object point clouds. However, when considering transparent objects, depth cameras are usually not able to capture high-quality data, resulting in point clouds with severe artifacts. Without a complete point cloud, existing methods are not applicable to challenging transparent objects. To tackle this problem, we present StereoPose, a ... |
Non-Minimal Solvers for Relative Pose Estimation with a Known Relative Rotation Angle | https://ieeexplore.ieee.org/document/10160580/ | [
"Deshun Hu",
"Deshun Hu"
] | Knowing the relative rotation angle improves relative pose estimation accuracy. We consider the problem of computing relative motion from a non-minimal number of correspondences with a known relative rotation angle. While several solvers for minimum correspondences have been proposed, no non-minimal solver for this problem currently exists. In this work, we propose two non-minimal solvers for this... |
Generalizable Pose Estimation Using Implicit Scene Representations | https://ieeexplore.ieee.org/document/10161162/ | [
"Vaibhav Saxena",
"Kamal Rahimi Malekshan",
"Linh Tran",
"Yotto Koga",
"Vaibhav Saxena",
"Kamal Rahimi Malekshan",
"Linh Tran",
"Yotto Koga"
] | 6-DoF pose estimation is an essential component of robotic manipulation pipelines. However, it usually suffers from a lack of generalization to new instances and object types. Most widely used methods learn to infer the object pose in a discriminative setup where the model filters useful information to infer the exact pose of the object. While such methods offer accurate poses, the model does not ... |
RFFCE: Residual Feature Fusion and Confidence Evaluation Network for 6DoF Pose Estimation | https://ieeexplore.ieee.org/document/10160448/ | [
"Qiwei Meng",
"Shanshan Ji",
"Shiqiang Zhu",
"Tianlei Jin",
"Te Li",
"Jason Gu",
"Wei Song",
"Qiwei Meng",
"Shanshan Ji",
"Shiqiang Zhu",
"Tianlei Jin",
"Te Li",
"Jason Gu",
"Wei Song"
] | In this paper, we propose a novel RGBD-based object 6DoF pose estimation network - RFFCE. It is a two-stage method that firstly leverages deep neural networks for feature extraction and object points matching, and then the geometric principles are utilized for final pose computation. Our approach consists of three primary innovations: residual feature fusion for representative RGBD feature extract... |
Hierarchical Graph Neural Networks for Proprioceptive 6D Pose Estimation of In-hand Objects | https://ieeexplore.ieee.org/document/10161264/ | [
"Alireza Rezazadeh",
"Snehal Dikhale",
"Soshi Iba",
"Nawid Jamali",
"Alireza Rezazadeh",
"Snehal Dikhale",
"Soshi Iba",
"Nawid Jamali"
] | Robotic manipulation, in particular in-hand object manipulation, often requires an accurate estimate of the object's 6D pose. To improve the accuracy of the estimated pose, state-of-the-art approaches in 6D object pose estimation use observational data from one or more modalities, e.g., RGB images, depth, and tactile readings. However, existing approaches make limited use of the underlying geometr... |
Interactive Object Segmentation in 3D Point Clouds | https://ieeexplore.ieee.org/document/10160904/ | [
"Theodora Kontogianni",
"Ekin Celikkan",
"Siyu Tang",
"Konrad Schindler",
"Theodora Kontogianni",
"Ekin Celikkan",
"Siyu Tang",
"Konrad Schindler"
] | We propose an interactive approach for 3D instance segmentation, where users can iteratively collaborate with a deep learning model to segment objects directly in a 3D point cloud. Current methods for 3D instance segmentation are generally trained in a fully-supervised fashion, which requires large amounts of costly training labels, and does not generalize well to classes unseen during training. F... |
GSNet: Model Reconstruction Network for Category-level 6D Object Pose and Size Estimation | https://ieeexplore.ieee.org/document/10160688/ | [
"Penglei Liu",
"Qieshi Zhang",
"Jun Cheng",
"Penglei Liu",
"Qieshi Zhang",
"Jun Cheng"
] | Category-level 6D pose and size estimation is to estimate the rotation, translation and size of the observed instance objects from an arbitrary angle in a cluttered scene. Compared with instance-level 6D pose estimation, there are two main challenges for category-level 6D pose estimation. One is that the algorithm needs to estimate the 6D pose and size of unseen objects, and no 3D models are avail... |
6D Pose Estimation for Textureless Objects on RGB Frames using Multi-View Optimization | https://ieeexplore.ieee.org/document/10160529/ | [
"Jun Yang",
"Wenjie Xue",
"Sahar Ghavidel",
"Steven L. Waslander",
"Jun Yang",
"Wenjie Xue",
"Sahar Ghavidel",
"Steven L. Waslander"
] | 6D pose estimation of textureless objects is a valuable but challenging task for many robotic applications. In this work, we propose a framework to address this challenge using only RGB images acquired from multiple viewpoints. The core idea of our approach is to decouple 6D pose estimation into a sequential two-step process, first estimating the 3D translation and then the 3D rotation of each obj... |
Learning Stabilization Control from Observations by Learning Lyapunov-like Proxy Models | https://ieeexplore.ieee.org/document/10160928/ | [
"Milan Ganai",
"Chiaki Hirayama",
"Ya-Chien Chang",
"Sicun Gao",
"Milan Ganai",
"Chiaki Hirayama",
"Ya-Chien Chang",
"Sicun Gao"
] | The deployment of Reinforcement Learning to robotics applications faces the difficulty of reward engineering. Therefore, approaches have focused on creating reward functions by Learning from Observations (LfO) which is the task of learning policies from expert trajectories that only contain state sequences. We propose new methods for LfO for the important class of continuous control problems of le... |
Efficient Preference-Based Reinforcement Learning Using Learned Dynamics Models | https://ieeexplore.ieee.org/document/10161081/ | [
"Yi Liu",
"Gaurav Datta",
"Ellen Novoseller",
"Daniel S. Brown",
"Yi Liu",
"Gaurav Datta",
"Ellen Novoseller",
"Daniel S. Brown"
] | Preference-based reinforcement learning (PbRL) can enable robots to learn to perform tasks based on an individual's preferences without requiring a hand-crafted re-ward function. However, existing approaches either assume access to a high-fidelity simulator or analytic model or take a model-free approach that requires extensive, possibly unsafe online environment interactions. In this paper, we st... |
BITS: Bi-level Imitation for Traffic Simulation | https://ieeexplore.ieee.org/document/10161167/ | [
"Danfei Xu",
"Yuxiao Chen",
"Boris Ivanovic",
"Marco Pavone",
"Danfei Xu",
"Yuxiao Chen",
"Boris Ivanovic",
"Marco Pavone"
] | Simulation is the key to scaling up validation and verification for robotic systems such as autonomous vehicles. Despite advances in high-fidelity physics and sensor simulation, a critical gap remains in simulating realistic behaviors of road users. This is because devising first principle models for human-like behaviors is generally infeasible. In this work, we take a data-driven approach to gene... |
Off-policy Imitation Learning from Visual Inputs | https://ieeexplore.ieee.org/document/10161566/ | [
"Zhihao Cheng",
"Li Shen",
"Dacheng Tao",
"Zhihao Cheng",
"Li Shen",
"Dacheng Tao"
] | Recently, various successful applications utilizing expert states in imitation learning (IL) have been witnessed. However, IL from visual inputs (ILfVI), which has a greater promise to be widely applied by using online visual resources, suffers from low data-efficiency and poor performance resulted from on-policy learning and high-dimensional visual inputs. We propose OPIfVI (Off-Policy Imitation ... |
Versatile Skill Control via Self-supervised Adversarial Imitation of Unlabeled Mixed Motions | https://ieeexplore.ieee.org/document/10160421/ | [
"Chenhao Li",
"Sebastian Blaes",
"Pavel Kolev",
"Marin Vlastelica",
"Jonas Frey",
"Georg Martius",
"Chenhao Li",
"Sebastian Blaes",
"Pavel Kolev",
"Marin Vlastelica",
"Jonas Frey",
"Georg Martius"
] | Learning diverse skills is one of the main challenges in robotics. To this end, imitation learning approaches have achieved impressive results. These methods require explicitly labeled datasets or assume consistent skill execution to enable learning and active control of individual behaviors, which limits their applicability. In this work, we propose a cooperative adversarial method for obtaining ... |
Curriculum-Based Imitation of Versatile Skills | https://ieeexplore.ieee.org/document/10160543/ | [
"Maximilian Xiling Li",
"Onur Celik",
"Philipp Becker",
"Denis Blessing",
"Rudolf Lioutikov",
"Gerhard Neumann",
"Maximilian Xiling Li",
"Onur Celik",
"Philipp Becker",
"Denis Blessing",
"Rudolf Lioutikov",
"Gerhard Neumann"
] | Learning skills by imitation is a promising concept for the intuitive teaching of robots. A common way to learn such skills is to learn a parametric model by maximizing the likelihood given the demonstrations. Yet, human demonstrations are often multi-modal, i.e., the same task is solved in multiple ways which is a major challenge for most imitation learning methods that are based on such a maximu... |
Learning Stable Dynamics via Iterative Quadratic Programming | https://ieeexplore.ieee.org/document/10161237/ | [
"Paul Gesel",
"Momotaz Begum",
"Paul Gesel",
"Momotaz Begum"
] | This paper proposes a novel autonomous dynamic system (ADS) based controller for trajectory learning from demonstration (LfD). We call our method Learning Stable Dynamics via Iterative Quadratic Programming (LSD-IQP). LSD-IQP learns an energy function and an ADS from demonstrations via semi-infinite quadratic programming. Energy function constraints are imposed on the learned ADS to ensure converg... |
Holistic Graph-based Motion Prediction | https://ieeexplore.ieee.org/document/10161468/ | [
"Daniel Grimm",
"Philip Schörner",
"Moritz Dreßler",
"J.-Marius Zöllner",
"Daniel Grimm",
"Philip Schörner",
"Moritz Dreßler",
"J.-Marius Zöllner"
] | Motion prediction for automated vehicles in complex environments is a difficult task that is to be mastered when automated vehicles are to be used in arbitrary situations. Many factors influence the future motion of traffic participants starting with traffic rules and reaching from the interaction between each other to personal habits of human drivers. Therefore, we present a novel approach for a ... |
Extraneousness-Aware Imitation Learning | https://ieeexplore.ieee.org/document/10161521/ | [
"Ray Chen Zheng",
"Kaizhe Hu",
"Zhecheng Yuan",
"Boyuan Chen",
"Huazhe Xu",
"Ray Chen Zheng",
"Kaizhe Hu",
"Zhecheng Yuan",
"Boyuan Chen",
"Huazhe Xu"
] | Visual imitation learning provides an effective framework to learn skills from demonstrations. However, the quality of the provided demonstrations usually significantly affects the ability of an agent to acquire desired skills. Therefore, the standard visual imitation learning assumes near-optimal demonstrations, which are expensive or sometimes prohibitive to collect. Previous works propose to le... |
Wayformer: Motion Forecasting via Simple & Efficient Attention Networks | https://ieeexplore.ieee.org/document/10160609/ | [
"Nigamaa Nayakanti",
"Rami Al-Rfou",
"Aurick Zhou",
"Kratarth Goel",
"Khaled S. Refaat",
"Benjamin Sapp",
"Nigamaa Nayakanti",
"Rami Al-Rfou",
"Aurick Zhou",
"Kratarth Goel",
"Khaled S. Refaat",
"Benjamin Sapp"
] | Motion forecasting for autonomous driving is a challenging task because complex driving scenarios involve a heterogeneous mix of static and dynamic inputs. It is an open problem how best to represent and fuse information about road geometry, lane connectivity, time-varying traffic light state, and history of a dynamic set of agents and their interactions into an effective encoding. To model this d... |
A Non-parametric Skill Representation with Soft Null Space Projectors for Fast Generalization | https://ieeexplore.ieee.org/document/10161065/ | [
"João Silvério",
"Yanlong Huang",
"João Silvério",
"Yanlong Huang"
] | Over the last two decades, the robotics community witnessed the emergence of various motion representations that have been used extensively, particularly in behavorial cloning, to compactly encode and generalize skills. Among these, probabilistic approaches have earned a relevant place, owing to their encoding of variations, correlations and adaptability to new task conditions. Modulating such pri... |
Sample Efficient Dynamics Learning for Symmetrical Legged Robots: Leveraging Physics Invariance and Geometric Symmetries | https://ieeexplore.ieee.org/document/10160959/ | [
"Jee-eun Lee",
"Jaemin Lee",
"Tirthankar Bandyopadhyay",
"Luis Sentis",
"Jee-eun Lee",
"Jaemin Lee",
"Tirthankar Bandyopadhyay",
"Luis Sentis"
] | Model generalization of the underlying dynamics is critical for achieving data efficiency when learning for robot control. This paper proposes a novel approach for learning dynamics leveraging the symmetry in the underlying robotic system, which allows for robust extrapolation from fewer samples. Existing frameworks that represent all data in vector space fail to consider the structured informatio... |
Just Round: Quantized Observation Spaces Enable Memory Efficient Learning of Dynamic Locomotion | https://ieeexplore.ieee.org/document/10160293/ | [
"Lev Grossman",
"Brian Plancher",
"Lev Grossman",
"Brian Plancher"
] | Deep reinforcement learning (DRL) is one of the most powerful tools for synthesizing complex robotic behaviors. But training DRL models is incredibly compute and memory intensive, requiring large training datasets and replay buffers to achieve performant results. This poses a challenge for the next generation of field robots that will need to learn on the edge to adapt to their environment. In thi... |
Causal Inference for De-biasing Motion Estimation from Robotic Observational Data | https://ieeexplore.ieee.org/document/10160311/ | [
"Junhong Xu",
"Kai Yin",
"Jason M. Gregory",
"Lantao Liu",
"Junhong Xu",
"Kai Yin",
"Jason M. Gregory",
"Lantao Liu"
] | Robot data collected in complex real-world scenarios are often biased due to safety concerns, human preferences, and mission or platform constraints. Consequently, robot learning from such observational data poses great challenges for accurate parameter estimation. We propose a principled causal inference framework for robots to learn the parameters of a stochastic motion model using observational... |
Active Predictive Coding: Brain-Inspired Reinforcement Learning for Sparse Reward Robotic Control Problems | https://ieeexplore.ieee.org/document/10160530/ | [
"Alexander Ororbia",
"Ankur Mali",
"Alexander Ororbia",
"Ankur Mali"
] | In this article, we propose a backpropagation-free approach to robotic control through the neuro-cognitive computational framework of neural generative coding (NGC), designing an agent completely built from predictive processing circuits that facilitate dynamic, online learning from sparse rewards, embodying the principles of planning-as-inference. Concretely, we craft an adaptive agent system, wh... |
Approximating Discontinuous Nash Equilibrial Values of Two-Player General-Sum Differential Games | https://ieeexplore.ieee.org/document/10160219/ | [
"Lei Zhang",
"Mukesh Ghimire",
"Wenlong Zhang",
"Zhe Xu",
"Yi Ren",
"Lei Zhang",
"Mukesh Ghimire",
"Wenlong Zhang",
"Zhe Xu",
"Yi Ren"
] | Finding Nash equilibrial policies for two-player differential games requires solving Hamilton-Jacobi-Isaacs (HJI) PDEs. Self-supervised learning has been used to approximate solutions of such PDEs while circumventing the curse of dimensionality. However, this method fails to learn discontinuous PDE solutions due to its sampling nature, leading to poor safety performance of the resulting controller... |
Visual Affordance Prediction for Guiding Robot Exploration | https://ieeexplore.ieee.org/document/10161288/ | [
"Homanga Bharadhwaj",
"Abhinav Gupta",
"Shubham Tulsiani",
"Homanga Bharadhwaj",
"Abhinav Gupta",
"Shubham Tulsiani"
] | Motivated by the intuitive understanding humans have about the space of possible interactions, and the ease with which they can generalize this understanding to previously unseen scenes, we develop an approach for learning ‘visual affordances’. Given an input image of a scene, we infer a distribution over plausible future states that can be achieved via interactions with it. To allow predicting di... |
Generating Stable and Collision-Free Policies through Lyapunov Function Learning | https://ieeexplore.ieee.org/document/10160494/ | [
"Alexandre Coulombe",
"Hsiu-Chin Lin",
"Alexandre Coulombe",
"Hsiu-Chin Lin"
] | The need for rapid and reliable robot deployment is on the rise. Imitation Learning (IL) has become popular for producing motion planning policies from a set of demonstrations. However, many methods in IL are not guaranteed to produce stable policies. The generated policy may not converge to the robot target, reducing reliability, and may collide with its environment, reducing the safety of the sy... |
ALAN: Autonomously Exploring Robotic Agents in the Real World | https://ieeexplore.ieee.org/document/10161016/ | [
"Russell Mendonca",
"Shikhar Bahl",
"Deepak Pathak",
"Russell Mendonca",
"Shikhar Bahl",
"Deepak Pathak"
] | Robotic agents that operate autonomously in the real world need to continuously explore their environment and learn from the data collected, with minimal human supervision. While it is possible to build agents that can learn in such a manner without supervision, current methods struggle to scale to the real world. Thus, we propose ALAN, an autonomously exploring robotic agent, that can perform tas... |
Throwing Objects into A Moving Basket While Avoiding Obstacles | https://ieeexplore.ieee.org/document/10160215/ | [
"Hamidreza Kasaei",
"Mohammadreza Kasaei",
"Hamidreza Kasaei",
"Mohammadreza Kasaei"
] | The capabilities of a robot will be increased significantly by exploiting throwing behavior. In particular, throwing will enable robots to rapidly place the object into the target basket, located outside its feasible kinematic space, without traveling to the desired location. In previous approaches, the robot often learned a parameterized throwing kernel through analytical approaches, imitation le... |
AIMY: An Open-source Table Tennis Ball Launcher for Versatile and High-fidelity Trajectory Generation | https://ieeexplore.ieee.org/document/10160336/ | [
"Alexander Dittrich",
"Jan Schneider",
"Simon Guist",
"Nico Gürtler",
"Heiko Ott",
"Thomas Steinbrenner",
"Bernhard Schölkopf",
"Dieter Büchler",
"Alexander Dittrich",
"Jan Schneider",
"Simon Guist",
"Nico Gürtler",
"Heiko Ott",
"Thomas Steinbrenner",
"Bernhard Schölkopf",
"Dieter Büchler"
] | To approach the level of advanced human players in table tennis with robots, generating varied ball trajectories in a reproducible and controlled manner is essential. Current ball launchers used in robot table tennis either do not provide an interface for automatic control or are limited in their capabilities to adapt speed, direction, and spin of the ball. For these reasons, we present AIMY, a th... |
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