Related papers: A Factor Graph Approach to Multi-Camera Extrinsic …
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 presents a state-estimation solution for legged robots that uses a set of low-cost, compact, and lightweight sensors to achieve low-drift pose and velocity estimation under challenging locomotion conditions. The key idea is to…
We introduce RoboPose, a method to estimate the joint angles and the 6D camera-to-robot pose of a known articulated robot from a single RGB image. This is an important problem to grant mobile and itinerant autonomous systems the ability to…
We present a novel approach for estimating the 2D pose of an articulated object with an application to automated video analysis of small laboratory animals. We have found that deformable part models developed for humans, exemplified by the…
In this paper, we present a motion planning framework for multi-modal vehicle dynamics. Our proposed algorithm employs transcription of the optimization objective function, vehicle dynamics, and state and control constraints into sparse…
Consistent localization of cooperative multi-robot systems during navigation presents substantial challenges. This paper proposes a fault-tolerant, multi-modal localization framework for multi-robot systems on matrix Lie groups. We…
Legged robots are able to navigate complex terrains by continuously interacting with the environment through careful selection of contact sequences and timings. However, the combinatorial nature behind contact planning hinders the…
In this paper we propose a new flexible method for hand-eye calibration. The vast majority of existing hand-eye calibration techniques requires a calibration rig which is used in conjunction with camera pose estimation methods. Instead, we…
Accurate registration between a prior model and the real scene is essential for high-precision robotic manipulation, yet optical methods suffer from long calibration chains, line-of-sight constraints, and fabrication errors. We propose a…
In this paper, we propose SCALAR, a calibration method to simultaneously calibrate the kinematic parameters of a 6-DoF robot and the extrinsic parameters of a 2D Laser Range Finder (LRF) attached to the robot's flange. The calibration setup…
Representing the environment is a central challenge in robotics, and is essential for effective decision-making. Traditionally, before capturing images with a manipulator-mounted camera, users need to calibrate the camera using a specific…
Accurate robot kinematics is essential for precise tool placement in articulated robots, but non-geometric factors can introduce configuration-dependent model discrepancies. This paper presents a configuration-dependent kinematic…
The self-localization capability is a crucial component for Unmanned Ground Vehicles (UGV) in farming applications. Approaches based solely on visual cues or on low-cost GPS are easily prone to fail in such scenarios. In this paper, we…
The deployment of robots in industrial and civil scenarios is a viable solution to protect operators from danger and hazards. Shared autonomy is paramount to enable remote control of complex systems such as legged robots, allowing the…
Determining extrinsic calibration parameters is a necessity in any robotic system composed of actuators and cameras. Once a system is outside the lab environment, parameters must be determined without relying on outside artifacts such as…
Coordinating proximity and tactile imaging by collocating cameras with tactile sensors can 1) provide useful information before contact such as object pose estimates and visually servo a robot to a target with reduced occlusion and higher…
Solving the camera-to-robot pose is a fundamental requirement for vision-based robot control, and is a process that takes considerable effort and cares to make accurate. Traditional approaches require modification of the robot via markers,…
Quadruped robots are showing impressive abilities to navigate the real world. If they are to become more integrated into society, social trust in interactions with humans will become increasingly important. Additionally, robots will need to…
Accurate localization is an essential technology for the flexible navigation of robots in large-scale environments. Both SLAM-based and map-based localization will increase the computing load due to the increase in map size, which will…
Precise sensor calibration is critical for autonomous vehicles as a prerequisite for perception algorithms to function properly. Rotation error of one degree can translate to position error of meters in target object detection at large…