70 citations · 108 across the 12 of their papers we have counts for
15 papers
TacGELLO: Tactile Contact Feedback for a 3D-Printed Teleoperation Leader
Younsoo Kim, Sangmin Song, Sarath Kodagoda +2
Passive leader arms transmit an operator's motion without returning remote contact or load cues. TacGELLO uses the existing servos of a 3D-printed leader for tactile contact feedba…
VOIM: Training-Free Open-Vocabulary 3D Instance Mapping for RGB-D and Monocular SLAM
Sangmin Song, Sarath Kodagoda, Marc G. Carmichael +4
We present Voxel-Grounded Online Instance Manager (VOIM), a training-free voxel-grounded instance manager that builds open-vocabulary 3D instance maps from RGB-D or from monocular…
Overcoming Visual Clutter in Vision Language Action Models via Concept-Gated Visual Distillation
Sangmim Song, Sarath Kodagoda, Marc Carmichael +1
Vision-Language-Action (VLA) models demonstrate impressive zero-shot generalization but frequently suffer from a "Precision-Reasoning Gap" in cluttered environments. This failure i…
Guide-LLM: An Embodied LLM Agent and Text-Based Topological Map for Robotic Guidance of People with Visual Impairments
Sangmim Song, Sarath Kodagoda, Amal Gunatilake +3
Navigation presents a significant challenge for persons with visual impairments (PVI). While traditional aids such as white canes and guide dogs are invaluable, they fall short in…
DeepGoal: Learning to Drive with driving intention from Human Control Demonstration
Huifang Ma, Yue Wang, Rong Xiong +2
Recent research on automotive driving developed an efficient end-to-end learning mode that directly maps visual input to control commands. However, it models distinct driving varia…
Weakly-Supervised Road Affordances Inference and Learning in Scenes without Traffic Signs
Huifang Ma, Yue Wang, Rong Xiong +2
Road attributes understanding is extensively researched to support vehicle's action for autonomous driving, whereas current works mainly focus on urban road nets and rely much on t…
Real-Time 3D Profiling with RGB-D Mapping in Pipelines Using Stereo Camera Vision and Structured IR Laser Ring
Amal Gunatilake, Lasitha Piyathilaka, Sarath Kodagoda +2
This paper is focused on delivering a solution that can scan and reconstruct the 3D profile of a pipeline in real-time using a crawler robot. A structured infrared (IR) laser ring…
Capacitive Sensor Based 2D Subsurface Imaging Technology for Non Destructive Evaluation of Building Surfaces
Lasitha Piyathilaka, Basura Sooriyaarachchi, Sarath Kodagoda +1
Understanding the underlying structure of building surfaces like walls and floors is essential when carrying out building maintenance and modification work. To facilitate such work…
Understanding Human Context in 3D Scenes by Learning Spatial Affordances with Virtual Skeleton Models
Lasitha Piyathilaka, Sarath Kodagoda
Robots are often required to operate in environments where humans are not present, but yet require the human context information for better human-robot interaction. Even when human…
Towards navigation without precise localization: Weakly supervised learning of goal-directed navigation cost map
Huifang Ma, Yue Wang, Li Tang +2
Autonomous navigation based on precise localization has been widely developed in both academic research and practical applications. The high demand for localization accuracy has be…
Parse Geometry from a Line: Monocular Depth Estimation with Partial Laser Observation
Yiyi Liao, Lichao Huang, Yue Wang +3
Many standard robotic platforms are equipped with at least a fixed 2D laser range finder and a monocular camera. Although those platforms do not have sensors for 3D depth sensing c…
Fast, On-board, Model-aided Visual-Inertial Odometry System for Quadrotor Micro Aerial Vehicles
Dinuka Abeywardena, Shoudong Huang, Ben Barnes +2
The main contribution of this paper is a high frequency, low-complexity, on-board visual-inertial odometry system for quadrotor micro air vehicles. The system consists of an extend…
Understand Scene Categories by Objects: A Semantic Regularized Scene Classifier Using Convolutional Neural Networks
Yiyi Liao, Sarath Kodagoda, Yue Wang +2
Scene classification is a fundamental perception task for environmental understanding in today's robotics. In this paper, we have attempted to exploit the use of popular machine le…
Improved State Estimation in Quadrotor MAVs: A Novel Drift-Free Velocity Estimator
Dinuka Abeywardena, Sarath Kodagoda, Gamini Dissanayake +1
This paper describes the synthesis and evaluation of a novel state estimator for a Quadrotor Micro Aerial Vehicle. Dynamic equations which relate acceleration, attitude and the aer…
Place classification with a graph regularized deep neural network model
Yiyi Liao, Sarath Kodagoda, Yue Wang +2
Place classification is a fundamental ability that a robot should possess to carry out effective human-robot interactions. It is a nontrivial classification problem which has attra…