8 accepted papers
The potential of tactile sensing for dexterous robotic manipulation has been demonstrated by its ability to enable nuanced real-world interactions. In this study, the retrieval of unknown objects from confined spaces, which is unsuitable for conventional visual perception and gripper-based manipulat…
Current 3D detection networks either rely on 2D object proposals or try to directly predict bounding box parameters from each point in a scene. While former methods are dependent on performance of 2D detectors, latter approaches are challenging due to the sparsity and occlusion in point clouds, maki…
This paper addressed a challenging problem of wheeled-legged robots with high degrees of freedom exploring in unknown rough environments. The proposed method works as a pipeline to achieve prioritized exploration comprising three primary modules: traversability analysis, frontier-based exploration a…
Performance of current 3D point based detectors is limited by the number of points they can process, consequently limiting their accuracy. In this paper we propose a novel architecture coined as Edge-Aware PointNet, that incorporates geometric shape priors as binary maps, integrated in parallel with…
In this paper, we propose novel edge and corner detection algorithms for unorganized point clouds. Our edge detection method evaluates symmetry in a local neighborhood and uses an adaptive density based threshold to differentiate 3D edge points. We extend this algorithm to propose a novel corner det…
Automatic welding of tubular TKY joints is an important and challenging task for the marine and offshore industry. In this paper, a framework for tubular joint detection and motion planning is proposed. The pose of the real tubular joint is detected using RGB-D sensors, which is used to obtain a rea…
We present a deep learning approach to estimation of the bead parameters in welding tasks. Our model is based on a four-hidden-layer neural network architecture. More specifically, the first three hidden layers of this architecture utilize Sigmoid function to produce their respective intermediate ou…
In this paper, a modified entropy-based algorithm is proposed for identification and reconstruction of a complex weld geometry. The edge of the weld geometry is identified based on minimizing a modified entropy-type cost function, and the weld geometry is reconstructed based on the detected edge. In…