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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

  • 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]

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