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FlowBot: Flow-based Modeling for Robot Navigation
(2022)2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)Autonomous navigation among people is a complex problem that also exhibits considerable variation depending on the type of environment and people involved. Here we consider navigation among crowds that exhibit flow-like behavior like people moving through a train station. We propose a novel pseudo-fluid model of crowd flow for such problems. These have an intuitive physical interpretation and do not require much tuning. We further formalize ...Conference Paper -
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 -
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