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07/15/2023
Learning Expressive Priors for Generalization and Uncertainty Estimation in Neural Networks
In this work, we propose a novel prior learning method for advancing gen...
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07/03/2023
Density-based Feasibility Learning with Normalizing Flows for Introspective Robotic Assembly
Machine Learning (ML) models in Robotic Assembly Sequence Planning (RASP...
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05/16/2023
Out-of-Distribution Detection for Adaptive Computer Vision
It is well known that computer vision can be unreliable when faced with ...
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03/23/2023
6D Object Pose Estimation from Approximate 3D Models for Orbital Robotics
We present a novel technique to estimate the 6D pose of objects from sin...
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03/17/2023
Efficient and Feasible Robotic Assembly Sequence Planning via Graph Representation Learning
Automatic Robotic Assembly Sequence Planning (RASP) can significantly im...
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02/22/2023
Fusing Visual Appearance and Geometry for Multi-modality 6DoF Object Tracking
In many applications of advanced robotic manipulation, six degrees of fr...
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10/18/2022
Virtual Reality via Object Poses and Active Learning: Realizing Telepresence Robots with Aerial Manipulation Capabilities
This article presents a novel telepresence system for advancing aerial m...
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09/29/2022
RECALL: Rehearsal-free Continual Learning for Object Classification
Convolutional neural networks show remarkable results in classification ...
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08/02/2022
A Multi-body Tracking Framework – From Rigid Objects to Kinematic Structures
Kinematic structures are very common in the real world. They range from ...
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07/14/2022
Challenges of SLAM in extremely unstructured environments: the DLR Planetary Stereo, Solid-State LiDAR, Inertial Dataset
We present the DLR Planetary Stereo, Solid-State LiDAR, Inertial (S3LI) ...
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03/10/2022
Iterative Corresponding Geometry: Fusing Region and Depth for Highly Efficient 3D Tracking of Textureless Objects
Tracking objects in 3D space and predicting their 6DoF pose is an essent...
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02/01/2022
A Model for Multi-View Residual Covariances based on Perspective Deformation
In this work, we derive a model for the covariance of the visual residua...
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10/25/2021
SRT3D: A Sparse Region-Based 3D Object Tracking Approach for the Real World
Region-based methods have become increasingly popular for model-based, m...
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10/02/2021
Seeking Visual Discomfort: Curiosity-driven Representations for Reinforcement Learning
Vision-based reinforcement learning (RL) is a promising approach to solv...
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09/28/2021
Making Curiosity Explicit in Vision-based RL
Vision-based reinforcement learning (RL) is a promising technique to sol...
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09/27/2021
Introspective Robot Perception using Smoothed Predictions from Bayesian Neural Networks
This work focuses on improving uncertainty estimation in the field of ob...
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09/23/2021
Bridging the Last Mile in Sim-to-Real Robot Perception via Bayesian Active Learning
Learning from synthetic data is popular in a variety of robotic vision t...
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09/20/2021
Trust Your Robots! Predictive Uncertainty Estimation of Neural Networks with Sparse Gaussian Processes
This paper presents a probabilistic framework to obtain both reliable an...
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09/14/2021
GPGM-SLAM: a Robust SLAM System for Unstructured Planetary Environments with Gaussian Process Gradient Maps
Simultaneous Localization and Mapping (SLAM) techniques play a key role ...
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09/12/2021
Towards Robust Monocular Visual Odometry for Flying Robots on Planetary Missions
In the future, extraterrestrial expeditions will not only be conducted b...
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07/07/2021
A Survey of Uncertainty in Deep Neural Networks
Due to their increasing spread, confidence in neural network predictions...
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05/05/2021
Multi-Modal Loop Closing in Unstructured Planetary Environments with Visually Enriched Submaps
Future planetary missions will rely on rovers that can autonomously expl...
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03/25/2021
Contact-GraspNet: Efficient 6-DoF Grasp Generation in Cluttered Scenes
Grasping unseen objects in unconstrained, cluttered environments is an e...
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03/11/2021
Unknown Object Segmentation from Stereo Images
Although instance-aware perception is a key prerequisite for many autono...
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11/09/2020
Learning to Localize in New Environments from Synthetic Training Data
Most existing approaches for visual localization either need a detailed ...
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11/06/2020
"What's This?" – Learning to Segment Unknown Objects from Manipulation Sequences
We present a novel framework for self-supervised grasped object segmenta...
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10/30/2020
Bayesian Optimization Meets Laplace Approximation for Robotic Introspection
In robotics, deep learning (DL) methods are used more and more widely, b...
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09/30/2020
DOT: Dynamic Object Tracking for Visual SLAM
In this paper we present DOT (Dynamic Object Tracking), a front-end that...
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09/01/2020
Gaussian Process Gradient Maps for Loop-Closure Detection in Unstructured Planetary Environments
The ability to recognize previously mapped locations is an essential fea...
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07/15/2020
Learning Multiplicative Interactions with Bayesian Neural Networks for Visual-Inertial Odometry
This paper presents an end-to-end multi-modal learning approach for mono...
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06/22/2020
Effective Version Space Reduction for Convolutional Neural Networks
In active learning, sampling bias could pose a serious inconsistency pro...
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06/20/2020
Estimating Model Uncertainty of Neural Networks in Sparse Information Form
We present a sparse representation of model uncertainty for Deep Neural ...
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06/09/2020
Sensor Artificial Intelligence and its Application to Space Systems – A White Paper
Information and communication technologies have accompanied our everyday...
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06/05/2020
Segmentation of Surgical Instruments for Minimally-Invasive Robot-Assisted Procedures Using Generative Deep Neural Networks
This work proves that semantic segmentation on minimally invasive surgic...
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03/25/2020
Visual-Inertial Telepresence for Aerial Manipulation
This paper presents a novel telepresence system for enhancing aerial man...
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02/11/2020
Self-Supervised Object-in-Gripper Segmentation from Robotic Motions
We present a novel technique to automatically generate annotated data fo...
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08/01/2019
Multi-path Learning for Object Pose Estimation Across Domains
We introduce a scalable approach for object pose estimation trained on s...
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06/12/2019
Non-Parametric Calibration for Classification
Many applications for classification methods not only require high accur...
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02/04/2019
Implicit 3D Orientation Learning for 6D Object Detection from RGB Images
We propose a real-time RGB-based pipeline for object detection and 6D po...
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12/12/2016
