9 accepted papers
Robotic tactile sensors based on Electrical Impedance Tomography (EIT) have gained great attention in robotic sensing applications due to their features such as no internal wiring, "all-in-one" structure, and continuous sensing capabilities. However, the effectiveness of EIT-based tactile sensors is
For inspection robots to achieve generalizability, stability, and ease of use, it is crucial that they understand natural language commands and navigate accurately to specified target objects. We propose L-SNI, a semantic navigation system adapted for inspection tasks, offering generalizability, rob
In this paper, we present a novel registration method based on plane constraints for large-scale LiDAR point clouds, effectively decoupling rotation estimation and translation estimation. For rotation estimation, we propose an outlier removal method that combines coarse filtering with rotation-invar…
Electrical impedance tomography (EIT)-based tactile sensors enable promising capabilities for safe human-robot interaction through large-area distributed force sensing. However, their practical realization is hampered by non-uniform sensitivity distribution which varies at different locations. This
Electrical Impedance Tomography (EIT)-based tactile sensors offer durability, scalability, and cost-effective manufacturing. However, simultaneously reconstructing force and shape from boundary measurements remains challenging due to EIT’s inherent location dependencies and image artifacts. This stu…
In this letter, we propose a guaranteed outlier removal method based on computational geometry consistency checks, named PNGOR, effectively leveraging planar normals from 3D scenes to estimate rotation. The challenge of estimating rotation can be conceptualized as a maximum consensus problem and we
This paper propose a novel transfer learning approach, Pseudo-Domain Adversarial Network (PDAN), to tackle the issue of electrode displacement in Electrical Impedance Tomography (EIT). Electrode displacement, caused by human movement or improper operation, significantly affects the accuracy of EIT b…
Large-scale 3D mapping nowadays is a research hotspot in robotics. A greatly concerning issue is reconstructing high-accuracy maps in a hardware environment with limited memory. To address this problem, we propose a novel implicit neural mapping approach with higher accuracy and less memory. It firs
Point and line features are complementary in Visual-Inertial Odometry (VIO) or Visual-Inertial Simultaneous Localization And Mapping (VI-SLAM) systems. The advantage of combining these two types of features relies on their proper weighting in the cost function, usually set by their uncertainty. Comp…