Ambiguity-Aware Multi-Object Pose Optimization for Visually-Assisted Robot Manipulation

6D object pose estimation aims to infer the relative pose between the object and the camera using a single image or multiple images. Most works have focused on predicting the object pose without associated uncertainty under occlusion and structural ambiguity (symmetricity). However, these works demand prior information about shape attributes, and this condition is hardly satisfied in reality; even asymmetric objects may be symmetric under the viewpoint change. In addition, acquiring and fusing diverse sensor data is challenging when extending them to robotics applications. Tackling these limitations, we present an ambiguity-aware 6D object pose estimation network, PrimA6D++, as a generic uncertainty prediction method. The major challenges in pose estimation, such as occlusion and symmetry, can be handled in a generic manner based on the measured ambiguity of the prediction. Specifically, we devise a network to reconstruct the three rotation axis primitive images of a target object and predict the underlying uncertainty along each primitive axis. Leveraging the estimated uncertainty, we then optimize multi-object poses using visual measurements and camera poses by treating it as an object SLAM problem. The proposed method shows a significant performance improvement in T-LESS and YCB-Video datasets. We further demonstrate real-time scene recognition capability for visually-assisted robot manipulation. Our code and supplementary materials are available at https://github.com/rpmsnu/PrimA6D.

OpenStreetMap-based LiDAR Global Localization in Urban Environment without a Prior LiDAR Map

Using publicly accessible maps, we propose a novel vehicle localization method that can be applied without using prior light detection and ranging (LiDAR) maps. Our method generates OSM descriptors by calculating the distances to buildings from a location in OpenStreetMap at a regular angle, and LiDAR descriptors by calculating the shortest distances to building points from the current location at a regular angle. Comparing the OSM descriptors and LiDAR descriptors yields a highly accurate vehicle localization result. Compared to methods that use prior LiDAR maps, our method presents two main advantages: (1) vehicle localization is not limited to only places with previously acquired LiDAR maps, and (2) our method is comparable to LiDAR map-based methods, and especially outperforms the other methods with respect to the top one candidate at KITTI dataset sequence 00.

A Tip Mount for Carrying Payloads using Soft Growing Robots

Pneumatically operated soft growing robots that lengthen through tip eversion can be used for inspection and manipulation tasks in confined spaces such as caves, animal habitats, or disaster environments. Because new material is continually emitted from the robot tip, it is challenging to mount sensors, grippers, or other useful payloads at the tip of the robot. Here, we present a tip mount for soft growing robots that can be reliably used and remain attached to the tip during growing, retraction, and steering, while carrying a variety of payloads, including active devices. Our tip mount enables two new soft growing robot capabilities: retracting without buckling while carrying a payload at the tip, and exerting a significant tensile load on the environment during inversion. In this paper, we review previous research on soft growing robot tip mounts, and we discuss the important features of a successful tip mount. We present the design of our tip mount and results for the minimum pressure to grow and the maximum payload in tension. We also demonstrate a soft growing robot equipped with our tip mount retrieving an object and delivering it to a different location.

Vine Robots: Design, Teleoperation, and Deployment for Navigation and Exploration

A new class of robots has recently been explored, characterized by tip extension, significant length change, and directional control. Here, we call this class of robots "vine robots," due to their similar behavior to plants with the growth habit of trailing. Due to their growth-based movement, vine robots are well suited for navigation and exploration in cluttered environments, but until now, they have not been deployed outside the lab. Portability of these robots and steerability at length scales relevant for navigation are key to field applications. In addition, intuitive human-in-the-loop teleoperation enables movement in unknown and dynamic environments. We present a vine robot system that is teleoperated using a custom designed flexible joystick and camera system, long enough for use in navigation tasks, and portable for use in the field. We report on deployment of this system in two scenarios: a soft robot navigation competition and exploration of an archaeological site. The competition course required movement over uneven terrain, past unstable obstacles, and through a small aperture. The archaeological site required movement over rocks and through horizontal and vertical turns. The robot tip successfully moved past the obstacles and through the tunnels, demonstrating the capability of vine robots to achieve real-world navigation and exploration tasks.