Related papers: Hand-Eye and Robot-World Calibration by Global Pol…
Recovering high-fidelity 3D hand geometry from images is a critical task in computer vision, holding significant value for domains such as robotics, animation and VR/AR. Crucially, scalable applications demand both accuracy and deployment…
Many imaging problems require solving an inverse problem that is ill-conditioned or ill-posed. Imaging methods typically address this difficulty by regularising the estimation problem to make it well-posed. This often requires setting the…
In this paper, a self-calibration approach for eye-in-hand robots using SLAM is considered. The goal is to calibrate the positioning of a robotic arm, with a camera mounted on the end-effector automatically using a SLAM-based method like…
Calibration in a multi camera network has widely been studied for over several years starting from the earlier days of photogrammetry. Many authors have presented several calibration algorithms with their relative advantages and…
Sensor calibration is crucial for autonomous driving, providing the basis for accurate localization and consistent data fusion. Enabling the use of high-accuracy GNSS sensors, this work focuses on the antenna lever arm calibration. We…
The paper deals with the design of experiments for manipulator geometric and elastostatic calibration based on the test-pose approach. The main attention is paid to the efficiency improvement of numerical techniques employed in the…
Misalignment between the camera frame and the operator frame is commonly seen in a teleoperated system and usually degrades the operation performance. The effects of such misalignment have not been fully investigated for eye-in-hand systems…
Calibration of multi-camera systems is a key task for accurate object tracking. However, it remains a challenging problem in real-world conditions, where traditional methods are not applicable due to the lack of accurate floor plans,…
Autonomous multi-robot optical inspection systems are increasingly applied for obtaining inline measurements in process monitoring and quality control. Numerous methods for path planning and robotic coordination have been developed for…
Numerous applications require algorithms that can align partially overlapping point sets while maintaining invariance to geometric transformations (e.g., similarity, affine, rigid). This paper introduces a novel global optimization method…
We propose a novel method for spatiotemporal multi-camera calibration using freely moving people in multiview videos. Since calibrating multiple cameras and finding matches across their views are inherently interdependent, performing both…
Camera calibration plays a critical role in various computer vision tasks such as autonomous driving or augmented reality. Widely used camera calibration tools utilize plane pattern based methodology, such as using a chessboard or AprilTag…
Reliably planning fingertip grasps for multi-fingered hands lies as a key challenge for many tasks including tool use, insertion, and dexterous in-hand manipulation. This task becomes even more difficult when the robot lacks an accurate…
In this paper, we consider a bilevel polynomial optimization problem where the objective and the constraint functions of both the upper and the lower level problems are polynomials. We present methods for finding its global minimizers and…
Camera calibration is integral to robotics and computer vision algorithms that seek to infer geometric properties of the scene from visual input streams. In practice, calibration is a laborious procedure requiring specialized data…
Mechanism calibration is an important and non-trivial task in robotics. Advances in sensor technology make affordable but increasingly accurate devices such as cameras and tactile sensors available, making it possible to perform automated…
This paper focuses on the study of a mathematical program with equilibrium constraints, where the objective and the constraint functions are all polynomials. We present a method for finding its global minimizers and global minimum using a…
We present a novel method for global motion planning of robotic systems that interact with the environment through contacts. Our method directly handles the hybrid nature of such tasks using tools from convex optimization. We formulate the…
Mobile devices equipped with a multi-camera system and an inertial measurement unit (IMU) are widely used nowadays, such as self-driving cars. The task of relative pose estimation using visual and inertial information has important…
Robot manipulation, especially bimanual manipulation, often requires setting up multiple cameras on multiple robot manipulators. Before robot manipulators can generate motion or even build representations of their environments, the cameras…