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 “"Robotic perception"”.
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Manifold Optimization for Robotic Perception
Robotic perception plays a crucial role in endowing a robot with human-like perception. This entails the ability to perceive and understand about the unstructured world from the sensor modalities, which would allow it to navigate autonomously through the environment to accomplish a task. Recent …
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High-resolution tactile sensing for robotic perception
… extending the application of tactile sensing in robotics. The major questions are: (1) What physical information is available from the high-resolution sensor? (2) How can the robot interpret and use this information? This thesis aims at addressing the two questions above. On the one hand, the …
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Robotic perception and manipulation in unstructured environments with partial observations
… dissertation tackles the challenges of robust robotic perception and manipulation in unstructured environments characterized by uncertainty and limited sensory information. While robots excel in structured environments with controlled settings, transitioning to complex real-world scenarios …
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Reliable Robotic Perception: From Outlier-Robust Estimation to Task-Aware Runtime Monitoring
Reliable perception is a key prerequisite for safe operation of robots and autonomous vehicles. The future of the field relies on public trust and provable correctness of behavior in real-world scenarios. Though commonly used, testing and simulation alone are insufficient to ensure correctness and …
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Toward robust active semantic SLAM via Max-Mixtures
… this work demonstrates an implementation of robotic perception that transforms stereo camera and LIDAR sensor data into a sparse map of semantic objects and a locally consistent flexible occupancy grid. This provides a topological representation for grouping objects into higher level classes …
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Active Multi-View Object Pose Estimation Using a Mobile Ground Robot
… pose estimation remains a central challenge in robotic perception, particularly when relying on single-view observations subject to occlusions and limited geometric cues. This thesis presents a system that incrementally refines object pose estimates by collecting multi-view observations with a …
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Designing Visual Intelligence from Photons to Action
… of facilitating complex behaviors. Conversely, roboticists have engineered sophisticated cameras and sensors, enabling robots to perform tasks beyond the capabilities of natural systems. This thesis explores the design of visual intelligence by integrating insights from both biology and …
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Neural Representation for robotics
Modern robotic systems often exhibit limited flexibility, constraining their range of applications. Consequently, they are restricted to particular tasks, where even minor modifications, such as changes in object dimensions, can require considerable reconfiguration effort. A major bottleneck in …
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Data Association Algorithms and Representations for Robust Geometric Perception
… requirement of geometric estimation in robotics. Identifying correspondences between measurements and models enables estimation processes to incorporate more data, in general leading to better estimates. However, sensor data is replete with noise and spurious measurements, making data …
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Rangefinding in Fire Smoke Environments
The field of robotics has advanced to the point where robots are being developed for use in fire environments to perform firefighting tasks. These environments contain varying levels of fire and smoke, both of which obstruct robotic perception sensors. In order to effectively use robots in fire …
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THE CHALLENGE OF DOMAIN SHIFT IN REAL-WORLD ROBOTIC VISION: TOWARD SCALABLE, UNSUPERVISED, AND CLOUD-BASED ADAPTATION
… the complexity of human-centric environments, robotic vision, namely computer vision embedded in mobile robots, has become an essential capability to acquire a semantically-rich understanding of the environment for improving core robotics tasks (such as navigation and localization), but also to …
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A Prototype Polarimetric Camera for Unmanned Ground Vehicles
… sensors like cameras to perform at all levels of perception, which includes detection, recognition and classification. Typical cameras measure the intensity of light at a variety of different wavelengths to classify objects in different areas of an image. A polarimetric camera not only measures …
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Representation learning for long-term collaborative autonomy
… which requires robots to have both great perception and decision making capabilities. It becomes even more challenging when this collaborative autonomy can be continuously performed in a long-term period, since there would be strong appearance variations of the environment, such as changes …
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Broadband World Modeling and Scene Reconstruction
Perception is a key feature in how any creature or autonomous system relates to its environment. While there are many types of perception, this thesis focuses on the improvement of the visual robotics perception systems. By implementing a broadband passive sensing system in conjunction with current …
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IRIS: Intelligent Roadway Image Segmentation
… step forward in the single camera roadway perception field.
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Sensor Fused Scene Reconstruction and Surface Inspection
Optical three dimensional (3D) mapping routines are used in inspection robots to detect faults by creating 3D reconstructions of environments. To detect surface faults, sub millimeter depth resolution is required to determine minute differences caused by coating loss and pitting. Sensors that can …
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Efficiently Searching for Objects Within Large Collections of Images and Video
… teams. Video and images are also a key part of robotic perception, including selfdriving cars, which use cameras as key sensors. Social media is increasingly image and video based. Video from these applications often makes its way to cloud storage, either for archival or for more complex uses, …
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Text Localization for Unmanned Ground Vehicles
Unmanned ground vehicles (UGVs) are increasingly being used for civilian and military applications. Passive sensing, such as visible cameras, are being used for navigation and object detection. An additional object of interest in many environments is text. Text information can supplement the …
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Representing and manipulating deformable linear objects
Submission original under an indefinite embargo labeled 'Open Access'. The submission was exported from vireo on 2025-10-20 without embargo terms