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Randa Almadhoun

3 accepted papers

2026

Learning 6D Object Pose Estimation With Event Cameras Using Synthetic Data and Domain Randomization

Oussama Abdul Hay, Xiaoqian Huang, Muhammad Ahmed Humais, Abdulla Ayyad, Randa Almadhoun, Yahya H. Zweiri
RA-L 2026

Estimating the 6D pose of rigid objects is a critical upstream task in many robotics applications. Most existing methods rely on RGB or RGB-D sensing modalities, which suffer from limitations under challenging lighting conditions and high-speed motion. In contrast, event-based cameras offer unique a

Cited by 0Source ↗Scholar ↗
2026

Learning 6D Object Pose Estimation with Event Cameras Using Synthetic Data and Domain Randomization

Oussama Abdul Hay, Xiaoqian Huang, Muhammad Ahmed Humais, Abdulla Ayyad, Randa Almadhoun, Yahya Zweiri
ICRA 2026poster

Estimating the 6D pose of rigid objects is a critical upstream task in many robotics applications. Most existing methods rely on RGB or RGB-D sensing modalities, which suffer from limitations under challenging lighting conditions and high-speed motion. In contrast, event-based cameras offer unique a…

Cited by 0Source ↗Scholar ↗
2018

Coverage Path Planning with Adaptive Viewpoint Sampling to Construct 3D Models of Complex Structures for the Purpose of Inspection

Randa Almadhoun, Tarek Taha, Dongming Gan, Jorge Dias, Yahya Zweiri, Lakmal Seneviratne
IROS 2018poster

In this paper, we introduce a coverage path planning algorithm with adaptive viewpoint sampling to construct accurate 3D models of complex large structures using Unmanned Aerial Vehicle (UAV). The developed algorithm, Adaptive Search Space Coverage Path Planner (ASSCPP), utilizes an existing 3D refe…

Cited by 34Source ↗Scholar ↗