Search
Results
-
ISAR: A Benchmark for Single- and Few-Shot Object Instance Segmentation and Re-Identification
(2024)2024 IEEE/CVF Winter Conference on Applications of Computer Vision (WACV)Most object-level mapping systems in use today make use of an upstream learned object instance segmentation model. If we want to teach them about a new object or segmentation class, we need to build a large dataset and retrain the system. To build spatial AI systems that can quickly be taught about new objects, we need to effectively solve the problem of single-shot object detection, instance segmentation and re-identification. So far ...Conference Paper -
On the programming effort required to generate Behavior Trees and Finite State Machines for robotic applications
(2023)2023 IEEE International Conference on Robotics and Automation (ICRA)In this paper we provide a practical demonstration of how the modularity in a Behavior Tree (BT) decreases the effort in programming a robot task when compared to a Finite State Machine (FSM). In recent years the way to represent a task plan to control an autonomous agent has been shifting from the standard FSM towards BTs. Many works in the literature have highlighted and proven the benefits of such design compared to standard approaches, ...Conference Paper -
Credible Online Dynamics Learning for Hybrid UAVs
(2023)2023 IEEE International Conference on Robotics and Automation (ICRA)Hybrid unmanned aerial vehicles (H-UAVs) are highly versatile platforms with the ability to transition between rotary- and fixed-wing flight. However, their (aero)dynamics tend to be highly nonlinear which increases the risk of introducing safety-critical modeling errors in a controller. Designing a safe, yet not too cautious controller, requires a credible model which provides accurate dynamics uncertainty quantification. We present a ...Conference Paper -
3D VSG: Long-term Semantic Scene Change Prediction through 3D Variable Scene Graphs
(2023)2023 IEEE International Conference on Robotics and Automation (ICRA)Numerous applications require robots to operate in environments shared with other agents, such as humans or other robots. However, such shared scenes are typically subject to different kinds of long-term semantic scene changes. The ability to model and predict such changes is thus crucial for robot autonomy. In this work, we formalize the task of semantic scene variability estimation and identify three main varieties of semantic scene ...Conference Paper -
Design Optimization ofaFour-Bar Leg Linkage foraLegged-Wheeled Balancing Robot
(2023)Lecture Notes in Networks and Systems ~ Robotics in Natural SettingsBalancing legged-wheeled robots have gained popularity in recent years due to their locomotive efficiency while still being able to conquer rough terrain and obstacles. Furthermore, as this type of robot maintains ground contact with its wheels for most of the time, passive gravity compensation mechanisms can greatly minimize power consumption. Various designs with different leg configurations have emerged, whereby a 1-DOF mechanism per ...Conference Paper -
SphNet: A Spherical Network for Semantic Pointcloud Segmentation
(2023)2023 IEEE International Conference on Robotics and Automation (ICRA)Semantic segmentation for robotic systems can enable a wide range of applications, from self-driving cars and augmented reality systems to domestic robots. We argue that a spherical representation is a natural one for egocentric pointclouds. Thus, in this work, we present a novel framework exploiting such a representation of LiDAR pointclouds for the task of semantic segmentation. Our approach is based on a spherical convolutional neural ...Conference Paper -
Design and Evaluation of a Mixed Reality-based Human-Robot Interface for Teleoperation of Omnidirectional Aerial Vehicles
(2023)2023 International Conference on Unmanned Aircraft Systems (ICUAS)Omnidirectional aerial vehicles are an attractive solution for visual inspection tasks that require observations from different views. However, the decisional autonomy of modern robots is limited. Therefore, human input is often necessary to safely explore complex industrial environments. Existing teleoperation tools rely on on-board camera views or 3D renderings of the environment to improve situational awareness. Mixed-Reality (MR) ...Conference Paper -
Mixed Reality Human-Robot Interface to Generate and Visualize 6DoF Trajectories: Application to Omnidirectional Aerial Vehicles
(2023)2023 International Conference on Unmanned Aircraft Systems (ICUAS)Omnidirectional aerial vehicles are an attractive tool for automated inspection tasks. Planning suitable trajectories in industrial environments is not trivial though and often requires human input. Existing trajectory planning tools generally rely on prior and accurate models of both the environment and the vehicle. Furthermore, their common 2D visualization for human operators is generally unsuitable for intuitive understanding of motions ...Conference Paper -
Uncertainty Estimation for Planetary Robotic Terrain Segmentation
(2023)2023 IEEE Aerospace ConferenceTerrain Segmentation information is crucial input for current and future planetary robotic missions. Labeling training data for terrain segmentation is a difficult task and can often cause semantic ambiguity. As a result, large portion of an image usually remains unlabeled. Therefore, it is difficult to evaluate network performance on such regions. Worse is the problem of using such a network for inference, since the quality of predictions ...Conference Paper -
Design of PrisMAV: An Omnidirectional Aerial Manipulator based on a 3-PUU Parallel Mechanism
(2023)2023 International Conference on Unmanned Aircraft Systems (ICUAS)The study of aerial robots capable to interact with their environment, also known as aerial manipulation, is a particularly new field in robotics research. Most existing solutions of aerial manipulators utilize commercially available multirotors as base flying platforms which are often extended by a suitable robotic arm. Although this design approach allows for fast prototyping, it impedes the development of a well- composed system where ...Conference Paper