Global ETD Search
Search theses and dissertations gathered from participating repositories worldwide. Every result links back to the library that holds it. No account is needed.
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Showing 1 to 20 of 20 for “"Robot Perception"”.
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Geometrically and Temporally Consistent Robot Perception
Perception algorithms rely on the capability to reconcile an ideal mathematical model of an object with imperfect data. Despite having been investigated extensively, robot perception remains challenging with spurious outliers, limited training data, and computational constraints. To this end, we …
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Scalable Full Posterior Inference for Uncertainty-Aware Robot Perception
Robot perception is crucial for both fully autonomous systems, like self-driving cars, and human-centric devices such as mixed reality glasses. While advances have been made in perception problems like simultaneous localization and mapping (SLAM) and visual localization, the quest for …
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Discrete-continuous optimization for robot perception via semidefinite relaxation
… to nonconvex problems arising in two fields of robot perception, semantic segmentation and robust pose graph optimization. Compared with other inference techniques, SDP relaxation have shown to provide accurate estimate with provable sub-optimality guarantees without relying on an initial guess …
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Enabling mobile robot perception and shared-control with vision-based sensor fusion systems
Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2024-03-01 without embargo terms
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Ultra high frequency (UHF) radio-frequency identification (RFID) for robot perception and mobile manipulation
Personal robots with autonomy, mobility, and manipulation capabilities have the potential to dramatically improve quality of life for various user populations, such as older adults and individuals with motor impairments. Unfortunately, unstructured environments present many challenges that hinder …
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The Effects of a Humanoid Robot's Non-lexical Vocalization on Emotion Recognition and Robot Perception
As robots have become more pervasive in our everyday life, social aspects of robots have attracted researchers' attention. Because emotions play a key role in social interactions, research has been conducted on conveying emotions via speech, whereas little research has focused on the effects of …
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Design of dust-filtering algorithms for LiDAR sensors in off-road vehicles using the AI and non-AI methods
… can impact sensor measurements and cause robot perception algorithms to misinterpret data. This thesis proposes two distinct dust filtering methods to address this issue. These methods utilize both AI and non-AI techniques. Specifically, we designed various dust filters including the …
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Pose estimation using overhead imagery and semantics
… of computing units has allowed for more compact robotic systems such as Micro Aerial Vehicles (MAVs), while developments in camera technologies has allowed for the generation of denser robot perception, such as depth and semantics, derived from environmental cues such as colour, shape and …
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Vision-based Proprioceptive and Force Sensing for Soft Robotic Actuator
Developing reliable control strategies for soft robots requires advances in soft robot perception. Due to their near-infinite degrees of freedom, obtaining useful sensory feedback from soft robots remains a long-standing challenge. Moreover, sensorization methods must be co-developed with more …
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On development and perception of theomorphic robots: the uncanny valley effect to Artificial Intelligence (AI)
… the development and evaluation of a theomorphic robot, the Korean Pensive Buddha Robot, a life-sized, articulated robotic statue modelled after the Korean National Treasure No. 83, the Pensive Bodhisattva. The project integrates three-dimensional (3D) printing, servomotor actuation, and …
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Energy efficient accelerators for autonomous navigation in miniaturized robots
… desirable feature for very small nano/pico robots to navigate cluttered and confined indoors environments such as collapsed buildings, caves, etc. Robot perception (i.e., semantic and geometric understanding) is considered the computation bottleneck in autonomous navigation systems because …
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On Robotic Work-Space Sensing and Control
Industrial robots are fast and accurate when working with known objects at precise locations in well-structured manufacturing environments, as done in the classical automation setting. In one sense, limited use of sensors leaves robots blind and numb, unaware of what is happening in their …
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Incremental sampling based algorithms for state estimation
Perception is a crucial aspect of the operation of autonomous vehicles. With a multitude of different sources of sensor data, it becomes important to have algorithms which can process the available information quickly and provide a timely solution. Also, an inherently continuous world is sensed by …
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Vision-based proprioception and tactile sensing for soft robots
… geometry in one image. To co-design hardware and perception, we develop a simulation pipeline that couples finite-element deformation with physics-based optical rendering, enabling design optimization and training data generation. The resulting models provide high-resolution proprioceptive shape …
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Lifelong, learning-augmented robot navigation
… and mapping (SLAM) is the process by which a robot constructs a global model of an environment from local observations of it; this is a fundamental perceptual capability supporting planning, navigation, and control. We are interested in improving the expressiveness and operational longevity of …
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Lifelong, Learning-Augmented Robot Navigation
… and mapping (SLAM) is the process by which a robot constructs a global model of an environment from local observations of it; this is a fundamental perceptual capability supporting planning, navigation, and control. We are interested in improving the expressiveness and operational longevity of …
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Learning-based cooperative perception and control for multi-robot systems
Multi-robot systems (MRS) are key to addressing complex real-world problems through the coordination of multiple autonomous agents but are burdened by the curse of dimensionality, which compounds the difficulty of applying solutions to large-scale problem instances. The use of learning-based …
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Machine Vision for Improved Human-Robot Cooperation in Adverse Underwater Conditions
Visually-guided underwater robots are deployed alongside human divers for cooperative exploration, inspection, and monitoring tasks in numerous shallow-water and coastal-water applications. The most essential capability of such companion robots is to visually interpret their surroundings and assist …
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Soft Morphological Computation
Soft Robotics is a relatively new area of research, where progress in material science has powered the next generation of robots, exhibiting biological-like properties such as soft/elastic tissues, compliance, resilience and more besides. One of the issues when employing soft robotics technologies …
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Full season navigation and control of ultra-compact autonomous ag-bot in GPS denied environment
This thesis describes perception and an autonomous navigation system for an ultra-lightweight ground robot in agricultural fields. The system is designed for reliable navigation under cluttered canopies using only a 2-D Hokuyo UST-10LX LiDAR and an RTK GPS as the primary sensors for navigation. Its …