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Semi-automatic 3D Object Keypoint Annotation and Detection for the Masses
(2022)2022 26th International Conference on Pattern Recognition (ICPR)Creating computer vision datasets requires careful planning and lots of time and effort. In robotics research, we often have to use standardized objects, such as the YCB object set, for tasks such as object tracking, pose estimation, grasping and manipulation, as there are datasets and pre-learned methods available for these objects. This limits the impact of our research since learning-based computer vision methods can only be used in ...Conference Paper -
Unified Data Collection for Visual-Inertial Calibration via Deep Reinforcement Learning
(2022)2022 International Conference on Robotics and Automation (ICRA)Visual-inertial sensors have a wide range of applications in robotics. However, good performance often requires different sophisticated motion routines to accurately calibrate camera intrinsics and inter-sensor extrinsics. This work presents a novel formulation to learn a motion policy to be executed on a robot arm for automatic data collection for calibrating intrinsics and extrinsics jointly. Our approach models the calibration process ...Conference Paper -
Reactive Motion Planning for Rope Manipulation and Collision Avoidance using Aerial Robots
(2022)2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)In this work we address the challenging problem of manipulating a flexible link, like a rope, with an aerial robot. Inspired by spraying tasks in construction and maintenance scenarios, we consider the case in which an autonomous end-effector (e.g., a spray nozzle moved by a robot or a human operator) is connected to a fixed point by a rope (e.g., a hose). To avoid collisions between the rope and the environment while the end-effector ...Conference Paper -
Closed-Loop Next-Best-View Planning for Target-Driven Grasping
(2022)IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022)Picking a specific object from clutter is an essential component of many manipulation tasks. Partial observations often require the robot to collect additional views of the scene before attempting a grasp. This paper proposes a closed-loop next-best-view planner that drives exploration based on occluded object parts. By continuously predicting grasps from an up-to-date scene reconstruction, our policy can decide online to finalize a grasp ...Conference Paper -
NavDreams: Towards Camera-Only RL Navigation Among Humans
(2022)2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)Autonomously navigating a robot in everyday crowded spaces requires solving complex perception and planning challenges. When using only monocular image sensor data as input, classical two-dimensional planning approaches cannot be used. While images present a significant challenge when it comes to perception and planning, they also allow capturing potentially important details, such as complex geometry, body movement, and other visual cues. ...Conference Paper -
Multi-robot System for Autonomous Cooperative Counter-UAS Missions: Design, Integration, and Field Testing
(2022)2022 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)With the rapid development of technology and the proliferation of uncrewed aerial systems (UAS), there is an immediate need for security solutions. Toward this end, we propose the use of a multi-robot system for autonomous and cooperative counter-UAS missions. In this paper, we present the design of the hardware and software components of different complementary robotic platforms: a mobile uncrewed ground vehicle (UGV) equipped with a ...Conference Paper -
Panoptic Multi-TSDFs: a Flexible Representation for Online Multi-resolution Volumetric Mapping and Long-term Dynamic Scene Consistency
(2022)2022 International Conference on Robotics and Automation (ICRA)For robotic interaction in environments shared with other agents, access to volumetric and semantic maps of the scene is crucial. However, such environments are inevitably subject to long-term changes, which the map needs to account for. We thus propose panoptic multi-TSDFs as a novel representation for multi-resolution volumetric mapping in changing environments. By leveraging high-level information for 3D reconstruction, our proposed ...Conference Paper -
See Yourself in Others: Attending Multiple Tasks for Own Failure Detection
(2022)2022 International Conference on Robotics and Automation (ICRA)Autonomous robots deal with unexpected scenarios in real environments. Given input images, various visual perception tasks can be performed, e.g., semantic segmentation, depth estimation and normal estimation. These different tasks provide rich information for the whole robotic perception system. All tasks have their own characteristics while sharing some latent correlations. However, some of the task predictions may suffer from the ...Conference Paper -
Collaborative Robot Mapping using Spectral Graph Analysis
(2022)2022 International Conference on Robotics and Automation (ICRA)In this paper, we deal with the problem of creating globally consistent pose graphs in a centralized multi-robot SLAM framework. For each robot to act autonomously, individual onboard pose estimates and maps are maintained, which are then communicated to a central server to build an optimized global map. However, inconsistencies between onboard and server estimates can occur due to onboard odometry drift or failure. Furthermore, robots ...Conference Paper -
SegmentMeIfYouCan: A Benchmark for Anomaly Segmentation
(2021)Proceedings of the Neural Information Processing Systems Track on Datasets and Benchmarks 1 (NeurIPS Datasets and Benchmarks 2021)State-of-the-art semantic or instance segmentation deep neural networks (DNNs) are usually trained on a closed set of semantic classes. As such, they are ill-equipped to handle previously-unseen objects. However, detecting and localizing such objects is crucial for safety-critical applications such as perception for automated driving, especially if they appear on the road ahead. While some methods have tackled the tasks of anomalous or ...Conference Paper