Related papers: Solving the Robot-World Hand-Eye(s) Calibration Pr…
The gaze of a person tends to reflect their interest. This work explores what happens when this statement is taken literally and applied to robots. Here we present a robot system that employs a moving robot head with a screen-based eye…
In hazardous and remote environments, robotic systems perform critical tasks demanding improved safety and efficiency. Among these, quadruped robots with manipulator arms offer mobility and versatility for complex operations. However,…
Pose estimation is a widely explored problem, enabling many robotic tasks such as grasping and manipulation. In this paper, we tackle the problem of pose estimation for objects that exhibit rotational symmetry, which are common in man-made…
Robots and other smart devices need efficient object-based scene representations from their on-board vision systems to reason about contact, physics and occlusion. Recognized precise object models will play an important role alongside…
Robots operating in the real world will experience a range of different environments and tasks. It is essential for the robot to have the ability to adapt to its surroundings to work efficiently in changing conditions. Evolutionary robotics…
Reusing large datasets is crucial to scale vision-based robotic manipulators to everyday scenarios due to the high cost of collecting robotic datasets. However, robotic platforms possess varying control schemes, camera viewpoints, kinematic…
This paper describes a novel approach in human robot interaction driven by ergonomics. With a clear focus on optimising ergonomics, the approach proposed here continuously observes a human user's posture and by invoking appropriate…
We propose a novel method for estimating the global rotations of the cameras independently of their positions and the scene structure. When two calibrated cameras observe five or more of the same points, their relative rotation can be…
Trust between team members is an essential requirement for any successful cooperation. Thus, engendering and maintaining the fellow team members' trust becomes a central responsibility for any member trying to not only successfully…
In order to fuse measurements from multiple sensors mounted on a mobile robot, it is needed to express them in a common reference system through their relative spatial transformations. In this paper, we present a method to estimate the full…
Many industrial tasks-such as sanding, installing fasteners, and wire harnessing-are difficult to automate due to task complexity and variability. We instead investigate deploying robots in an assistive role for these tasks, where the robot…
Camera calibration is an essential prerequisite for event-based vision applications. Current event camera calibration methods typically involve using flashing patterns, reconstructing intensity images, and utilizing the features extracted…
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,…
Eye gaze can provide rich information on human psychological activities, and has garnered significant attention in the field of Human-Robot Interaction (HRI). However, existing gaze estimation methods merely predict either the gaze…
The increasing necessity for fisheye cameras in fields such as robotics and autonomous driving has led to the proposal of various fisheye camera models. While the evolution of camera models has facilitated the development of diverse systems…
Many works in collaborative robotics and human-robot interaction focuses on identifying and predicting human behaviour while considering the information about the robot itself as given. This can be the case when sensors and the robot are…
Robots have been steadily increasing their presence in our daily lives, where they can work along with humans to provide assistance in various tasks on industry floors, in offices, and in homes. Automated assembly is one of the key…
Manipulation planning is the problem of finding a sequence of robot configurations that involves interactions with objects in the scene, e.g., grasping and placing an object, or more general tool-use. To achieve such interactions,…
This dissertation considers Open-world Robot Manipulation, a manipulation problem where a robot must generalize or quickly adapt to new objects, scenes, or tasks for which it has not been pre-programmed or pre-trained. This dissertation…
High degrees of disagreement among annotators can exist for ambiguous objects, e.g. in medical images, underscoring the challenges of establishing ground truth annotations in object detection tasks. Despite this, all existing object…