Search Results for author:
Found 11 papers, 5 papers with code
The Impact of Time Step Frequency on the Realism of Robotic Manipulation Simulation for Objects of Different Scales
This work evaluates the impact of time step frequency and component scale on robotic manipulation simulation accuracy.
The Use of Multi-Scale Fiducial Markers To Aid Takeoff and Landing Navigation by Rotorcraft
This paper quantifies the performance of visual SLAM that leverages multi-scale fiducial markers (i. e., artificial landmarks that can be detected at a wide range of distances) to show its potential for reliable takeoff and landing navigation in rotorcraft.
Comparative Study of Visual SLAM-Based Mobile Robot Localization Using Fiducial Markers
This paper presents a comparative study of three modes for mobile robot localization based on visual SLAM using fiducial markers (i. e., square-shaped artificial landmarks with a black-and-white grid pattern): SLAM, SLAM with a prior map, and localization with a prior map.
Learning from Integral Losses in Physics Informed Neural Networks
Our numerical results confirm the existence of the aforementioned bias in practice, and also show that our proposed delayed target approach can lead to accurate solutions with comparable quality to ones estimated with a large number of samples.
Hypergraph-based Multi-Robot Task and Motion Planning
We present a multi-robot task and motion planning method that, when applied to the rearrangement of objects by manipulators, results in solution times up to three orders of magnitude faster than existing methods and successfully plans for problems with up to twenty objects, more than three times as many objects as comparable methods.
Truly Deterministic Policy Optimization
In this paper, we present a policy gradient method that avoids exploratory noise injection and performs policy search over the deterministic landscape.
iCaps: Iterative Category-level Object Pose and Shape Estimation
The auto-encoder can be used in a particle filter framework to estimate and track 6D poses of objects in a category.
Self-supervised 6D Object Pose Estimation for Robot Manipulation
In this way, our system is able to continuously collect data and improve its pose estimation modules.
Robotics
PoseRBPF: A Rao-Blackwellized Particle Filter for 6D Object Pose Tracking
In this work, we formulate the 6D object pose tracking problem in the Rao-Blackwellized particle filtering framework, where the 3D rotation and the 3D translation of an object are decoupled.
Improved Structure from Motion Using Fiducial Marker Matching
In this paper, we present an incremental structure from motion (SfM) algorithm that signiï¬cantly outperforms existing algorithms when ï¬ducial markers are present in the scene, and that matches the performance of existing algorithms when no markers are present.
ChromaTag: A Colored Marker and Fast Detection Algorithm
Current fiducial marker detection algorithms rely on marker IDs for false positive rejection.
