Related papers: Pose Estimation for Ground Robots: On Manifold Rep…
Pose estimation commonly refers to computer vision methods that recognize people's body postures in images or videos. With recent advancements in deep learning, we now have compelling models to tackle the problem in real-time. Since these…
To measure system states and local environment directly with high precision, expensive sensors are required. However, highly accurate system states and environmental perception can also be achieved using data fusion techniques and digital…
Relative State Estimation perform mutually localization between two mobile agents undergoing six-degree-of-freedom motion. Based on the principle of circular motion, the estimation accuracy is sensitive to nonlinear rotations of the…
Odometer has been proven to significantly improve the accuracy of the Global Navigation Satellite System / Inertial Navigation System (GNSS/INS) integrated vehicle navigation in GNSS-challenged environments. However, the odometer is…
A global navigation satellite system (GNSS) is a sensor that can acquire 3D position and velocity in an earth-fixed coordinate system and is widely used for outdoor position estimation of robots and vehicles. Various GNSS/inertial…
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…
Accurate state estimation is a fundamental problem for autonomous robots. To achieve locally accurate and globally drift-free state estimation, multiple sensors with complementary properties are usually fused together. Local sensors…
Object pose estimation has multiple important applications, such as robotic grasping and augmented reality. We present a new method to estimate the 6D pose of objects that improves upon the accuracy of current proposals and can still be…
This paper considers the task of locating articulated poses of multiple robots in images. Our approach simultaneously infers the number of robots in a scene, identifies joint locations and estimates sparse depth maps around joint locations.…
6D object pose estimation problem has been extensively studied in the field of Computer Vision and Robotics. It has wide range of applications such as robot manipulation, augmented reality, and 3D scene understanding. With the advent of…
A reliable pose estimator robust to environmental disturbances is desirable for mobile robots. To this end, inertial measurement units (IMUs) play an important role because they can perceive the full motion state of the vehicle…
3-D pose estimation of instruments is a crucial step towards automatic scene understanding in robotic minimally invasive surgery. Although robotic systems can potentially directly provide joint values, this information is not commonly…
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…
State-of-the-art robotic perception systems have achieved sufficiently good performance using Inertial Measurement Units (IMUs), cameras, and nonlinear optimization techniques, that they are now being deployed as technologies. However, many…
Single image pose estimation is a fundamental problem in many vision and robotics tasks, and existing deep learning approaches suffer by not completely modeling and handling: i) uncertainty about the predictions, and ii) symmetric objects…
To address the weak observability of monocular visual-inertial odometers on ground-based mobile robots, this paper proposes a monocular inertial SLAM algorithm combined with wheel speed anomaly detection. The algorithm uses a wheel speed…
Robotic manipulation in everyday scenarios, especially in unstructured environments, requires skills in pose-aware object manipulation (POM), which adapts robots' grasping and handling according to an object's 6D pose. Recognizing an…
It is well understood that in ADAS applications, a good estimate of the pose of the vehicle is required. This paper proposes a metaphorically named 2.5D odometry, whereby the planar odometry derived from the yaw rate sensor and four wheel…
The paper focuses on the calibration of serial industrial robots using partial pose measurements. In contrast to other works, the developed advanced robot calibration technique is suitable for geometrical and elastostatic calibration. The…
Visual odometry is a widely used technique in the field of robotics and automation to keep a track on the location of a robot using visual cues alone. In this paper, we propose a joint forward backward visual odometry framework by combining…