15 accepted papers
Low-light image enhancement (LLIE) aims to enhance the illumination of images that are captured under dark conditions, which is critical for various applications in dim environments, such as robotics and autonomous driving. Existing convolutional neural network (CNN)-based methods usually struggle t
"In frame-based vision, object detection faces substantial performance degradation under challenging conditions due to the limited sensing capability of conventional cameras. Event cameras output sparse and asynchronous events, providing a potential solution to solve these problems. However, effecti…
"3D point cloud segmentation has received significant interest for its growing applications. However, the generalization ability of models suffers in dynamic scenarios due to the distribution shift between test and training data. To promote robustness and adaptability across diverse scenarios, test-…
Cooperative perception offers several benefits for enhancing the capabilities of autonomous vehicles and improving road safety. Using roadside sensors in addition to onboard sensors increases reliability and extends the sensor range. External sensors offer higher situational awareness for automated…
The outbreak of novel coronavirus pneumonia (COVID-19) has caused mortality and morbidity worldwide. Oropharyngeal-swab (OP-swab) sampling is widely used for the diagnosis of COVID-19 in the world. To avoid the clinical staff from being affected by the virus, we developed a 9-degree-of-freedom (DOF)
Motion planning for autonomous racing is a challenging task due to the safety requirement while driving aggressively. Most previous solutions utilize the prior information or depend on complex dynamics modeling. Classical model-free reinforcement learning methods are based on random sampling, which
This letter is concerned with the problem of estimating camera orientation from a set of 2D/3D line correspondences, which is a major part of the Perspective-n-Line (PnL) problem. There are some cases that usually occur in real applications for PnL: the input line correspondences are corrupted by mi
Relative pose estimation is a core task in robotic vision, and it is the basis of many high-level applications (e.g., visual odometry). In this letter, we focus on a quite common case in which the gravity direction is known in advance with the help of IMUs. Commonly, incorrect feature matches (a.k.a
Precise perception is one of the key enablers of autonomous robotic operations. The right selection of sensors significantly influences the overall performance of the system. This paper provides a systematic approach for evaluation of various sensors available on the market. The main focus is to ass…
This paper presents two different approaches to generate a time local-optimal and jerk-limited trajectory with blends for a robot manipulator under consideration of kinematic constraints. The first approach generates a trajectory with blends based on the trapezoidal acceleration model by formulating
Retinal surgery is known to be a complicated and challenging task for an ophthalmologist even for retina specialists. Image guided robot-assisted intervention is among the novel and promising solutions that may enhance human capabilities during microsurgery. In this paper, a novel method is proposed
We propose a calibration method for the six degrees of freedom (DOF) extrinsic pose of a 2D laser rangefinder mounted to a robot arm. Our goal is to design a system that allows on-site re-calibration without requiring any kind of special environment or calibration objects. By moving the sensor we ge
Pedestrian motion prediction is a fundamental task for autonomous robots and vehicles to operate safely. In recent years many complex approaches based on neural networks have been proposed to address this problem. In this work we show that - surprisingly - a simple Constant Velocity Model can outper
Ophthalmic microsurgery is known to be a challenging operation, which requires very precise and dexterous manipulation. Image guided robot-assisted surgery is a promising solution that brings significant improvements in outcomes and reduces the physical limitations of human surgeons. However, this t
CAD/CAM approaches have been used in the manufacturing industry for a long time, and their use in robotic systems is becoming more popular. One common element in these approaches is the use of geometric constraints to define relative object poses. Hence, approaches for solving these geometric constr