47 citations · 94 across the 10 of their papers we have counts for
10 papers
ArtReg: Visuo-Tactile based Pose Tracking and Manipulation of Unseen Articulated Objects
Prajval Kumar Murali, Mohsen Kaboli
Robots operating in real-world environments frequently encounter unknown objects with complex structures and articulated components, such as doors, drawers, cabinets, and tools. Th…
Touch if it's transparent! ACTOR: Active Tactile-based Category-Level Transparent Object Reconstruction
Prajval Kumar Murali, Bernd Porr, Mohsen Kaboli
Accurate shape reconstruction of transparent objects is a challenging task due to their non-Lambertian surfaces and yet necessary for robots for accurate pose perception and safe m…
GMCR: Graph-based Maximum Consensus Estimation for Point Cloud Registration
Michael Gentner, Prajval Kumar Murali, Mohsen Kaboli
Point cloud registration is a fundamental and challenging problem for autonomous robots interacting in unstructured environments for applications such as object pose estimation, si…
An Empirical Evaluation of Various Information Gain Criteria for Active Tactile Action Selection for Pose Estimation
Prajval Kumar Murali, Ravinder Dahiya, Mohsen Kaboli
Accurate object pose estimation using multi-modal perception such as visual and tactile sensing have been used for autonomous robotic manipulators in literature. Due to variation i…
Towards Robust 3D Object Recognition with Dense-to-Sparse Deep Domain Adaptation
Prajval Kumar Murali, Cong Wang, Ravinder Dahiya +1
Three-dimensional (3D) object recognition is crucial for intelligent autonomous agents such as autonomous vehicles and robots alike to operate effectively in unstructured environme…
Active Visuo-Tactile Interactive Robotic Perception for Accurate Object Pose Estimation in Dense Clutter
Prajval Kumar Murali, Anirvan Dutta, Michael Gentner +3
This work presents a novel active visuo-tactile based framework for robotic systems to accurately estimate pose of objects in dense cluttered environments. The scene representation…
Comparison of Information-Gain Criteria for Action Selection
Prajval Kumar Murali, Mohsen Kaboli
Accurate object pose estimation using multi-modal perception such as visual and tactile sensing have been used for autonomous robotic manipulators in literature. Due to variation i…
Active Visuo-Tactile Point Cloud Registration for Accurate Pose Estimation of Objects in an Unknown Workspace
Prajval Kumar Murali, Michael Gentner, Mohsen Kaboli
This paper proposes a novel active visuo-tactile based methodology wherein the accurate estimation of the time-invariant SE(3) pose of objects is considered for autonomous robotic…
In Situ Translational Hand-Eye Calibration of Laser Profile Sensors using Arbitrary Objects
Prajval Kumar Murali, Ines Sorrentino, Angelo Rendiniello +8
Hand-eye calibration of laser profile sensors is the process of extracting the homogeneous transformation between the laser profile sensor frame and the end-effector frame of a rob…
Deployment and Evaluation of a Flexible Human-Robot Collaboration Model Based on AND/OR Graphs in a Manufacturing Environment
Prajval Kumar Murali, Kourosh Darvish, Fulvio Mastrogiovanni
The Industry 4.0 paradigm promises shorter development times, increased ergonomy, higher flexibility, and resource efficiency in manufacturing environments. Collaborative robots ar…