Related papers: Certifiably Optimal Monocular Hand-Eye Calibration
Current parametric models have made notable progress in 3D hand pose and shape estimation. However, due to the fixed hand topology and complex hand poses, current models are hard to generate meshes that are aligned with the image well. To…
Whenever we use devices to take measurements, calibration is indispensable. While the purpose of calibration is to reduce bias and uncertainty in the measurements, it can be quite difficult, expensive, and sometimes even impossible to…
Markerless tracking of hands and fingers is a promising enabler for human-computer interaction. However, adoption has been limited because of tracking inaccuracies, incomplete coverage of motions, low framerate, complex camera setups, and…
Most current single image camera calibration methods rely on specific image features or user input, and cannot be applied to natural images captured in uncontrolled settings. We propose directly inferring camera calibration parameters from…
We propose a novel method for spatiotemporal multi-camera calibration using freely moving people in multiview videos. Since calibrating multiple cameras and finding matches across their views are inherently interdependent, performing both…
Caging is a promising tool which allows a robot to manipulate an object without directly reasoning about the contact dynamics involved. Furthermore, caging also provides useful guarantees in terms of robustness to uncertainty, and often…
We study an auto-calibration problem in which a transform-sparse signal is acquired via compressive sensing by multiple sensors in parallel, but with unknown calibration parameters of the sensors. This inverse problem has an important…
Hand exoskeletons are critical tools for dexterous teleoperation and immersive manipulation interfaces, but achieving accurate hand tracking remains a challenge due to user-specific anatomical variability and donning inconsistencies. These…
Robotic calibration allows for the fusion of data from multiple sensors such as odometers, cameras, etc., by providing appropriate transformational relationships between the corresponding reference frames. For wheeled robots equipped with…
Camera calibration for estimating the intrinsic parameters and lens distortion is a prerequisite for various monocular vision applications including feature tracking and video stabilization. This application paper proposes a model for…
Hand-eye calibration is the problem of solving the transformation from the end-effector of a robot to the sensor attached to it. Commonly employed techniques, such as AXXB or AXZB formulations, rely on regression methods that require…
Estimating human body measurements from monocular RGB imagery remains challenging due to scale ambiguity, viewpoint sensitivity, and the absence of explicit depth information. This work presents a systematic empirical study of three weakly…
The inaccessibility of user-perceived reality remains an open issue in pursuing the accurate calibration of optical see-through (OST) head-mounted displays (HMDs). Manual user alignment is usually required to collect a set of…
This paper proposes FAST-Calib, a fast and user-friendly LiDAR-camera extrinsic calibration tool based on a custom-made 3D target. FAST-Calib supports both mechanical and solid-state LiDARs by leveraging an efficient and reliable edge…
We propose a fully automated system that simultaneously estimates the camera intrinsics, the ground plane, and physical distances between people from a single RGB image or video captured by a camera viewing a 3-D scene from a fixed vantage…
In this work, we propose an approach for extrinsic sensor calibration from per-sensor ego-motion estimates. Our problem formulation is based on dual quaternions, enabling two different online capable solving approaches. We provide a…
Unlike traditional robotic hands, underactuated compliant hands are challenging to model due to inherent uncertainties. Consequently, pose estimation of a grasped object is usually performed based on visual perception. However, visual…
This paper investigates the direct application of standardized designs on the robot for conducting robot hand-eye calibration by employing 3D scanners with collaborative robots. The well-established geometric features of the robot flange…
The process of camera calibration involves estimating the intrinsic and extrinsic parameters, which are essential for accurately performing tasks such as 3D reconstruction, object tracking and augmented reality. In this work, we propose a…
This work addresses the challenging problem of unconstrained 3D hand pose estimation using monocular RGB images. Most of the existing approaches assume some prior knowledge of hand (such as hand locations and side information) is available…