5 papers
Sparse Color-Code Net: Real-Time RGB-Based 6D Object Pose Estimation on Edge Devices
Xingjian Yang, Zhitao Yu, Ashis G. Banerjee
As robotics and augmented reality applications increasingly rely on precise and efficient 6D object pose estimation, real-time performance on edge devices is required for more inte…
Data-Driven Ergonomic Risk Assessment of Complex Hand-intensive Manufacturing Processes
Anand Krishnan, Xingjian Yang, Utsav Seth +8
Hand-intensive manufacturing processes, such as composite layup and textile draping, require significant human dexterity to accommodate task complexity. These strenuous hand motion…
Active Anomaly Detection in Confined Spaces Using Ergodic Traversal of Directed Region Graphs
Benjamin Wong, Tyler M. Paine, Santosh Devasia +1
We provide the first step toward developing a hierarchical control-estimation framework to actively plan robot trajectories for anomaly detection in confined spaces. The space is r…
Human-Inspired Topological Representations for Visual Object Recognition in Unseen Environments
Ekta U. Samani, Ashis G. Banerjee
Visual object recognition in unseen and cluttered indoor environments is a challenging problem for mobile robots. Toward this goal, we extend our previous work to propose the TOPS2…
Human-Assisted Robotic Detection of Foreign Object Debris Inside Confined Spaces of Marine Vessels Using Probabilistic Mapping
Benjamin Wong, Wade Marquette, Nikolay Bykov +2
Many complex vehicular systems, such as large marine vessels, contain confined spaces like water tanks, which are critical for the safe functioning of the vehicles. It is particula…