Related papers: Hand-Eye and Robot-World Calibration by Global Pol…
An algorithm which computes a solution of a set optimization problem is provided. The graph of the objective map is assumed to be given by finitely many linear inequalities. A solution is understood to be a set of points in the domain…
Camera calibration is a crucial step in photogrammetry and 3D vision applications. This paper introduces a novel camera calibration method using a designed collimator system. Our collimator system provides a reliable and controllable…
Camera calibration is a crucial step in robotics and computer vision. Accurate camera parameters are necessary to achieve robust applications. Nowadays, camera calibration process consists of adjusting a set of data to a pin-hole model,…
RegHEC is a registration-based hand-eye calibration technique with no need for accurate calibration rig but arbitrary available objects, applicable for both eye-in-hand and eye-to-hand cases. It tries to find the hand-eye relation which…
Camera calibration involves estimating camera parameters to infer geometric features from captured sequences, which is crucial for computer vision and robotics. However, conventional calibration is laborious and requires dedicated…
Occlusions caused by a robot's own body is a common problem for closed-loop control methods employed in eye-to-hand camera setups. We propose an optimization-based reactive controller that minimizes self-occlusions while achieving a desired…
The task of camera calibration is to estimate the intrinsic and extrinsic parameters of a camera model. Though there are some restricted techniques to infer the 3-D information about the scene from uncalibrated cameras, effective camera…
This paper describes an approximate method for global optimization of polynomial programming problems with bounded variables. The method uses a reformulation and linearization technique to transform the original polynomial optimization…
We study the problem of planning paths for a team of robots for visually monitoring an environment. Our work is motivated by surveillance and persistent monitoring applications. We are given a set of target points in a polygonal environment…
The combination of LiDARs and cameras enables a mobile robot to perceive environments with multi-modal data, becoming a key factor in achieving robust perception. Traditional frame cameras are sensitive to changing illumination conditions,…
Whenever we use devices to take measurements, calibration is indispensable. While the purpose of calibration is to reduce bias and uncertainty in the measurements, it can be quite difficult, expensive, and sometimes even impossible to…
The affine inverse eigenvalue problem consists of identifying a real symmetric matrix with a prescribed set of eigenvalues in an affine space. Due to its ubiquity in applications, various instances of the problem have been widely studied in…
The design of high-precision sensing devises becomes ever more difficult and expensive. At the same time, the need for precise calibration of these devices (ranging from tiny sensors to space telescopes) manifests itself as a major…
In order for a bimanual robot to manipulate an object that is held by both hands, it must construct motion plans such that the transformation between its end effectors remains fixed. This amounts to complicated nonlinear equality…
This paper explores general multi-robot task and motion planning, where multiple robots in close proximity manipulate objects while satisfying constraints and a given goal. In particular, we formulate the plan refinement problem--which,…
Illuminating a scene with artificial light is a prerequisite for seeing in dark environments. However, nonuniform and dynamic illumination can deteriorate or even break computer vision approaches, for instance when operating a robot with…
Hand-eye calibration through visual localization is a critical capability for robotic manipulation in open-world environments. However, most deep learning-based calibration models suffer from catastrophic forgetting when adapting into…
Legged robots are becoming popular not only in research, but also in industry, where they can demonstrate their superiority over wheeled machines in a variety of applications. Either when acting as mobile manipulators or just as all-terrain…
Visual navigation devices require precise calibration to achieve high-precision localization and navigation, which includes camera and attitude calibration. To address the limitations of time-consuming camera calibration and complex…
Humanoid robots rely on multi-contact planners to navigate a diverse set of environments, including those that are unstructured and highly constrained. To synthesize stable multi-contact plans within a reasonable time frame, most planners…