Real-World Applications of Artificial Intelligence in Architecture

Real-world applications of Artificial Intelligence (AI) in architecture have been explored more recently at Technical University (TU) Delft by integrating AI in Design-to-Robotic-Production-Assembly and -Operation (D2RPA&O) methods. These embed robotics into building processes and buildings by linking computational design with robotic...

Vision-guided object pose estimation for robotic pushing in real-time

Object pushing in robotics has numerous applications, but it often relies on room-bound object tracking systems such as Motion Capture (MoCap) for accurate object pose acquisition. Such systems limit the potential use scenarios, since they add complexity and cost and require expansion of the sensor infrastructure for expanding the operational...

Zero-shot learning in pick-and-place tasks using neuro-symbolic concept learning

Pick and place systems that operate in a warehouse setting have been studied a lot recently due to the high economic value for e-commerce companies. In this thesis, the focus is on the perception pipeline that performs object recognition given a certain input data stream (typically RGB-D images). Impressive results regarding object recognition...

Development of a Platform for Stereo Visual Odometry based Platooning

As autonomous driving is a popular and ever growing field of research, real world experiments provide a required manner of testing. In this thesis a driving research platform is developed, with a focus on platooning using visual messaging. These visual messages are conveyed using LED matrices. This thesis proposes two methods of LED matrix...

A Geometry-Based Grasping Method for Vine Tomato

In this thesis, a geometry-based grasping method for vine-tomato is proposed. The method utilizes a geometric model of the robotic hand and truss to determine an optimal grasping location on the truss stem. This allows grasping a truss without requiring delicate contact sensors or complex mechanical models. A computer vision pipeline is...

Uncertainty Estimation in Vision-Aided Robot Teleoperation System

Teleoperation allows the use of human intelligence and decision making in remote tasks which are too dangerous for humans to perform. Technologies such as force feedback and haptic guidance have shown to increase task efficiency during teleoperation. In an unmodeled environment, sensors provide input for haptic guidance or present extra...

Machine Learning as Enabler of Design-to-Robotic-Operation

This essay promotes Artificial Intelligence (AI) via Machine Learning (ML) as a fundamental enabler of technically intelligent built-environments. It does this by detailing ML’s successful application within three deployment domains: (1) Human Activity Recognition, (2) Object as well as Facial-Identity and -Expression Recognition, and (3) Speech...

Collision Avoidance for Predefined C-arm Trajectory using 3D Depth Measurements

Human-robot collaborative act is obvious nowadays in a modern intervention room. It is very important to ensure the safety of the patient along with other personnel in the operation theater and prevent damages to the equipment during an intervention. Due to the complex environment and multiple unknown dynamic objects in the room, vision-based...

Multimodal Joint Visual Attention Model for Natural Human-Robot Interaction in Domestic Environments

Due to population ageing, the cost of health care will raise in the coming years. One way to help humans, and especially elderly people, is the introduction of domestic robots that can assist people in daily life such that they are less dependent on home care. Joint visual attention models can be used for natural robot-human interaction. Joint...