Robot Perception
Goal:
Vision Control
Description:
The aim of this project is to develop intelligent perceptual systems that provide robots with information of its environment.
Topics:
Multimodal sensor fusion
Human-robot interfaces
Perception for medical robots
Computational sensor models
Team
Jinsong Wu
Dr Maria Victorova
Shipeng Lyu
Fuji Hu
Gu Gong
Samantha Lee
Frank Zhang
Luyin Hu
Domi Gomez
Dr Muhammed Muddassir
Publications
S. Lyu, S. Huo, W. Ma, G. Guo, and D. Navarro-Alarcon. A Vision-Driven End-User Robot Programming Method Based on Alignment between Body Language and Motion Commands. (preprint) [link]
Z. Feng. Y. Guo. D. Navarro-Alarcon. Y. Lyu, and Y. Sun. InconSeg: Residual-Guided Fusion With Inconsistent Multi-Modal Data for Negative and Positive Road Obstacles Segmentation, IEEE Robotics and Automation Letters (RA-L), vol. 8, no. 8, pp. 4871-4878, 2023. [pdf]
H.-Y. Lee, P. Zhou, A. Duan, J. Wang, V. Wu, and D. Navarro-Alarcon. A Multi-Sensor Interface to Improve the Learning Experience in Arc Welding Training Tasks. IEEE Transactions on Human-Machine Systems (T-HMS), vol. 53, no. 3, pp. 619-628, 2023 [pdf]
T. Zhang, L. Hu, Y. Sun, L. Li, and D. Navarro-Alarcon. Computing Thermal Point Clouds by Fusing RGB-D and Infrared Images: From Dense Object Reconstruction to Environment Mapping, IEEE Int. Conf. Robotics and Biomimetics (ROBIO), 2022 [link]
L. Hu, A. Duan, M. Li, A. Cherubini, L. Li and D. Navarro-Alarcon. Paint with the Sun: A Thermal-Vision Guided Robot to Harness Solar Energy for Heliography, IEEE Sensors Journal, vol. 22, no. 18, pp. 18130-18142, 2022. [pdf]
L. Hu, D. Navarro-Alarcon, A. Cherubini, M. Li and L. Li. On Radiation-Based Thermal Servoing: New Models, Controls and Experiments, IEEE Transactions on Robotics (T-RO), vol. 38, no. 3, pp. 1945-1958, 2022. [pdf]
M. Victorova, M. K.-S. Lee, D. Navarro-Alarcon and Y. Zheng. Follow the Curve: Robotic Ultrasound Navigation with Learning-Based Localization of Spinous Processes for Scoliosis Assessment, IEEE Access, vol. 10, pp. 40216-40229, 2022. [pdf]
M. Muddassir, G. Limbert, and D. Navarro-Alarcon. Development of a Multi-layer Model of Skin Subjected to Pulsed Laser Irradiation to Optimise Thermal Stimulation in Photorejuvenation Procedure, Computer Methods and Programs in Biomedicine, vol. 216, no. 106653, 2022. [pdf]
T. Zhang, L. Hu, L. Li and D. Navarro-Alarcon. Towards a Multispectral RGB-IR-UV-D Vision System — Seeing the Invisible in 3D, IEEE Int. Conf. Robotics and Biomimetics (ROBIO), pp. 1723–1728, 2021 [link]
D. Navarro-Alarcon, J. Qi, J. Zhu and A. Cherubini. A Lyapunov-Stable Adaptive Method to Approximate Sensorimotor Models for Sensor-Based Control, Frontiers in Neurorobotics, vol. 14, pp. 59, 2020. [pdf]
Z. Wang, S.C. Lee, F. Zhong, D. Navarro-Alarcon, Y.-H. Liu, A. Seguet, P. Kazanzides, and R. H. Taylor. Image-Based Trajectory Tracking of 4 DoF Laparoscopic Instruments Using a Rotation Distinguishing Marker. IEEE Robotics and Automation Letters (RA-L), vol. 2, no. 3, pp. 1586–1592, 2017. [pdf]