Related papers: On the covariance of X in AX = XB
We revisit the problem of model-based object recognition for intensity images and attempt to address some of the shortcomings of existing Bayesian methods, such as unsuitable priors and the treatment of residuals with a non-robust error…
The egocentric and exocentric viewpoints of a human activity look dramatically different, yet invariant representations to link them are essential for many potential applications in robotics and augmented reality. Prior work is limited to…
Safe human-to-robot handovers of unknown objects require accurate estimation of hand poses and object properties, such as shape, trajectory, and weight. Accurately estimating these properties requires the use of scanned 3D object models or…
We study how the choice of visual perspective affects learning and generalization in the context of physical manipulation from raw sensor observations. Compared with the more commonly used global third-person perspective, a hand-centric…
Environment perception is a key component of any autonomous system and is often based on a heterogeneous set of sensors and fusion thereof for which sensor sensor calibration plays fundamental role. It can be divided to intrinsic and…
We consider the problem of learning error covariance matrices for robotic state estimation. The convergence of a state estimator to the correct belief over the robot state is dependent on the proper tuning of noise models. During inference,…
Calibration$\unicode{x2014}$the problem of ensuring that predicted probabilities align with observed class frequencies$\unicode{x2014}$is a basic desideratum for reliable prediction with machine learning systems. Calibration error is…
This report describes our 1st place solution to ECCV 2022 challenge on Human Body, Hands, and Activities (HBHA) from Egocentric and Multi-view Cameras (hand pose estimation). In this challenge, we aim to estimate global 3D hand poses from…
We present a novel solution to the camera pose estimation problem, where rotation and translation of a camera between two views are estimated from matched feature points in the images. The camera pose estimation problem is traditionally…
Many underwater applications rely on vision sensors and require proper camera calibration, i.e. knowing the incoming light ray for each pixel in the image. While for the ideal pinhole camera model all viewing rays intersect in a single 3D…
Planning contact interactions is one of the core challenges of many robotic tasks. Optimizing contact locations while taking dynamics into account is computationally costly and, in environments that are only partially observable, executing…
Manipulating objects with robotic hands is a complicated task. Not only the fingers of the hand, but also the pose of the robot's end effector need to be coordinated. Using human demonstrations of movements is an intuitive and…
Accurate camera calibration is a precondition for many computer vision applications. Calibration errors, such as wrong model assumptions or imprecise parameter estimation, can deteriorate a system's overall performance, making the reliable…
In this work, we present an approach for monocular hand-eye calibration from per-sensor ego-motion based on dual quaternions. Due to non-metrically scaled translations of monocular odometry, a scaling factor has to be estimated in addition…
This paper presents a novel concept to support physically impaired humans in daily object manipulation tasks with a robot. Given a user's manipulation sequence, we propose a predictive model that uniquely casts the user's sequential…
Neural networks solving real-world problems are often required not only to make accurate predictions but also to provide a confidence level in the forecast. The calibration of a model indicates how close the estimated confidence is to the…
Dexterous manipulation, which refers to the ability of a robotic hand or multi-fingered end-effector to skillfully control, reorient, and manipulate objects through precise, coordinated finger movements and adaptive force modulation,…
It is a crucial problem in robotics field to cage an object using robots like multifingered hand. However the problem what is the caging for general geometrical objects and robots has not been well-described in mathematics though there were…
In computed tomography, data consist of measurements of the attenuation of X-rays passing through an object. The goal is to reconstruct the linear attenuation coefficient of the object's interior. For each position of the X-ray source,…
We generalize entanglement detection with covariance matrices for an arbitrary set of observables. A generalized uncertainty relation is constructed using the covariance and commutation matrices, then a criterion is established by…