Related papers: Best Viewpoint Tracking for Camera Mounted on Robo…
The assumption of scene rigidity is common in visual SLAM algorithms. However, it limits their applicability in populated real-world environments. Furthermore, most scenarios including autonomous driving, multi-robot collaboration and…
Actively planning sensor views during object reconstruction is crucial for autonomous mobile robots. An effective method should be able to strike a balance between accuracy and efficiency. In this paper, we propose a seamless integration of…
Exploring the most task-friendly camera setting -- optimal camera placement (OCP) problem -- in tasks that use multiple cameras is of great importance. However, few existing OCP solutions specialize in depth observation of indoor scenes,…
This study addresses the challenge of manipulation, a prominent issue in robotics. We have devised a novel methodology for swiftly and precisely identifying the optimal grasp point for a robot to manipulate an object. Our approach leverages…
This paper studies the problem of predicting future trajectories of people in unseen cameras of novel scenarios and views. We approach this problem through the real-data-free setting in which the model is trained only on 3D simulation data…
Image view synthesis has seen great success in reconstructing photorealistic visuals, thanks to deep learning and various novel representations. The next key step in immersive virtual experiences is view synthesis of dynamic scenes.…
Autonomous robot person-following (RPF) systems are crucial for personal assistance and security but suffer from target loss due to occlusions in dynamic, unknown environments. Current methods rely on pre-built maps and assume static…
This thesis is devoted to marker-less 3D human motion tracking in calibrated and synchronized multicamera systems. Pose estimation is based on a 3D model, which is transformed into the image plane and then rendered. Owing to elaborated…
Robust 3D human pose estimation is crucial to ensure safe and effective human-robot collaboration. Accurate human perception,however, is particularly challenging in these scenarios due to strong occlusions and limited camera viewpoints.…
We propose a viewpoint invariant model for 3D human pose estimation from a single depth image. To achieve this, our discriminative model embeds local regions into a learned viewpoint invariant feature space. Formulated as a multi-task…
Motion capture has become increasingly important, not only in computer animation but also in emerging fields like the virtual reality, bioinformatics, and humanoid training. Capturing outdoor environments offers extended horizon scenes but…
In this paper we present a visual servoing approach to the problem of object grasping and more generally, to the problem of aligning an end-effector with an object. First we extend the method proposed by Espiau et al. [1] to the case of a…
Active vision (AV) has been in the spotlight of robotics research due to its emergence in numerous applications including agricultural tasks such as precision crop monitoring and autonomous harvesting to list a few. A major AV problem that…
In this paper, a mobile camera positioning method based on forward and inverse kinematics of robot is proposed, which can realize far point positioning of imaging position and attitude tracking in large scene enhancement. Orbit precision…
The 3D depth estimation and relative pose estimation problem within a decentralized architecture is a challenging problem that arises in missions that require coordination among multiple vision-controlled robots. The depth estimation…
We address the challenging problem of dense dynamic scene reconstruction and camera pose estimation from multiple freely moving cameras -- a setting that arises naturally when multiple observers capture a shared event. Prior approaches…
The robotic manipulation of compliant objects is currently one of the most active problems in robotics due to its potential to automate many important applications. Despite the progress achieved by the robotics community in recent years,…
We address the problem of active visual exploration of large 360{\deg} inputs. In our setting an active agent with a limited camera bandwidth explores its 360{\deg} environment by changing its viewing direction at limited discrete time…
The problem of robust extraction of visual odometry from a sequence of images obtained by an eye in hand camera configuration is addressed. A novel approach toward solving planar template based tracking is proposed which performs a…
How should a robot direct active vision so as to ensure reliable grasping? We answer this question for the case of dexterous grasping of unfamiliar objects. By dexterous grasping we simply mean grasping by any hand with more than two…