Related papers: A Framework for Depth Estimation and Relative Loca…
Realizing relative localization by leveraging inter-robot local measurements is a challenging problem, especially in the presence of measurement noise. Motivated by this challenge, in this paper we propose a novel and systematic 3-D…
In this paper, we propose a method to determine the 3D relative pose of pairs of communicating robots by using human pose-based key-points as correspondences. We adopt a 'leader-follower' framework, where at first, the leader robot visually…
This paper presents a comprehensive survey on vision-based robotic grasping. We conclude three key tasks during vision-based robotic grasping, which are object localization, object pose estimation and grasp estimation. In detail, the object…
Ground texture based localization methods are potential prospects for low-cost, high-accuracy self-localization solutions for robots. These methods estimate the pose of a given query image, i.e. the current observation of the ground from a…
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…
This work addresses visual cross-view metric localization for outdoor robotics. Given a ground-level color image and a satellite patch that contains the local surroundings, the task is to identify the location of the ground camera within…
Visual localization for planar moving robot is important to various indoor service robotic applications. To handle the textureless areas and frequent human activities in indoor environments, a novel robust visual localization algorithm…
Relative localization between autonomous robots without infrastructure is crucial to achieve their navigation, path planning, and formation in many applications, such as emergency response, where acquiring a prior knowledge of the…
Detecting objects and estimating their pose remains as one of the major challenges of the computer vision research community. There exists a compromise between localizing the objects and estimating their viewpoints. The detector ideally…
Knowing the exact 3D location of workers and robots in a collaborative environment enables several real applications, such as the detection of unsafe situations or the study of mutual interactions for statistical and social purposes. In…
We present an approach for estimating a mobile robot's pose w.r.t. the allocentric coordinates of a network of static cameras using multi-view RGB images. The images are processed online, locally on smart edge sensors by deep neural…
6D object pose estimation is an important task that determines the 3D position and 3D rotation of an object in camera-centred coordinates. By utilizing such a task, one can propose promising solutions for various problems related to scene…
In the context of future manufacturing lines, removing fixtures will be a fundamental step to increase the flexibility of autonomous systems in assembly and logistic operations. Vision-based 3D pose estimation is a necessity to accurately…
This paper studies the problem of having mobile robots in a multi-robot system maintain an estimate of the relative position and relative orientation of near-by robots in the environment. This problem is studied in the context of large…
A technique for object localization based on pose estimation and camera calibration is presented. The 3-dimensional (3D) coordinates are estimated by collecting multiple 2-dimensional (2D) images of the object and are utilized for the…
This paper presents a strategy to guide a mobile ground robot equipped with a camera or depth sensor, in order to autonomously map the visible part of a bounded three-dimensional structure. We describe motion planning algorithms that…
Learning model-free object pose estimation for unseen instances remains a fundamental challenge in 3D vision. Existing methods typically fall into two disjoint paradigms: category-level approaches predict absolute poses in a canonical space…
Technologies to enable safe and effective collaboration and coexistence between humans and robots have gained significant importance in the last few years. A critical component useful for realizing this collaborative paradigm is the…
We consider the case in which a robot has to navigate in an unknown environment but does not have enough on-board power or payload to carry a traditional depth sensor (e.g., a 3D lidar) and thus can only acquire a few (point-wise) depth…
Many robotics applications require precise pose estimates despite operating in large and changing environments. This can be addressed by visual localization, using a pre-computed 3D model of the surroundings. The pose estimation then…