Related papers: Automatic Calibration of a Robot Manipulator and M…
In this paper a new method for geometric robot calibration is introduced, which uses a calibration plate with precisely known distances between its measuring points. The relative measurement between two points on the calibration plate is…
We present a robust markerless image based visual servoing method that enables precision robot control without hand-eye and camera calibrations in 1, 3, and 5 degrees-of-freedom. The system uses two cameras for observing the workspace and a…
A self-contained calibration procedure that can be performed automatically without additional external sensors or tools is a significant advantage, especially for complex robotic systems. Here, we show that the kinematics of a…
The multi-sensory setups consisting of the laser scanners and cameras are popular as the measurements complement each other and provide necessary robustness for applications. Under dynamic conditions or when in motion, a direct…
Most current single image camera calibration methods rely on specific image features or user input, and cannot be applied to natural images captured in uncontrolled settings. We propose directly inferring camera calibration parameters from…
Camera calibration is a crucial technique which significantly influences the performance of many robotic systems. Robustness and high precision have always been the pursuit of diverse calibration methods. State-of-the-art calibration…
Calibration of devices with different modalities is a key problem in robotic vision. Regular spatial objects, such as planes, are frequently used for this task. This paper deals with the automatic detection of ellipses in camera images, as…
Despite the widespread deployment of outdoor cameras, their potential for automated analysis remains largely untapped due, in part, to calibration challenges. The absence of precise camera calibration data, including intrinsic and extrinsic…
In this paper, we present an accelerometer-based kinematic calibration algorithm to accurately estimate the pose of multiple sensor units distributed along a robot body. Our approach is self-contained, can be used on any robot provided with…
Sensor setups consisting of a combination of 3D range scanner lasers and stereo vision systems are becoming a popular choice for on-board perception systems in vehicles; however, the combined use of both sources of information implies a…
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…
The fusion of LiDARs and cameras has been increasingly adopted in autonomous driving for perception tasks. The performance of such fusion-based algorithms largely depends on the accuracy of sensor calibration, which is challenging due to…
The most prevalent routine for camera calibration is based on the detection of well-defined feature points on a purpose-made calibration artifact. These could be checkerboard saddle points, circles, rings or triangles, often printed on a…
In this paper, we present the design and implementation of a robust motion formation distributed control algorithm for a team of mobile robots. The primary task for the team is to form a geometric shape, which can be freely translated and…
This paper proposes FAST-Calib, a fast and user-friendly LiDAR-camera extrinsic calibration tool based on a custom-made 3D target. FAST-Calib supports both mechanical and solid-state LiDARs by leveraging an efficient and reliable edge…
The fusion of multi-modal sensors has become increasingly popular in autonomous driving and intelligent robots since it can provide richer information than any single sensor, enhance reliability in complex environments. Multi-sensor…
Today's autonomous vehicles rely on a multitude of sensors to perceive their environment. To improve the perception or create redundancy, the sensor's alignment relative to each other must be known. With Multi-LiCa, we present a novel…
Industrial robots are increasingly used in various applications where the robot accuracy becomes very important, hence calibrations of the robot's kinematic parameters and the measurement system's extrinsic parameters are required. However,…
This work presents an RGB-D imaging-based approach to marker-free hand-eye calibration using a novel implementation of the iterative closest point (ICP) algorithm with a robust point-to-plane (PTP) objective formulated on a Lie algebra. Its…
3D spatial perception is fundamental to generalizable robotic manipulation, yet obtaining reliable, high-quality 3D geometry remains challenging. Depth sensors suffer from noise and material sensitivity, while existing reconstruction models…