Belief Scene Graphs: Expanding Partial Scenes with Objects through Computation of Expectation

no code implementations • 6 Feb 2024 • Mario A. V. Saucedo, Akash Patel, Akshit Saradagi, Christoforos Kanellakis, George Nikolakopoulos

As no database of 3D scene graphs exists for the training of the novel CECI model, we present a novel methodology for generating a 3D scene graph dataset based on semantically annotated real-life 3D spaces.

Common Sense Reasoning

Event Camera and LiDAR based Human Tracking for Adverse Lighting Conditions in Subterranean Environments

no code implementations • 18 Apr 2023 • Mario A. V. Saucedo, Akash Patel, Rucha Sawlekar, Akshit Saradagi, Christoforos Kanellakis, Ali-akbar Agha-mohammadi, George Nikolakopoulos

In the proposed approach, information from the event camera and LiDAR are fused to localize a human or an object-of-interest in a robot's local frame.

Clustering Human Detection +1

Online Center of Mass Estimation for a Humanoid Wheeled Inverted Pendulum Robot

1 code implementation • 7 Oct 2018 • Munzir Zafar, Akash Patel, Bogdan Vlahov, Nathaniel Glaser, Sergio Aguillera, Seth Hutchinson

We present a novel application of robust control and online learning for the balancing of a n Degree of Freedom (DoF), Wheeled Inverted Pendulum (WIP) humanoid robot.