Related papers: A Visual Kinematics Calibration Method for Manipul…
In this paper, we focus on motion estimation dedicated for non-holonomic ground robots, by probabilistically fusing measurements from the wheel odometer and exteroceptive sensors. For ground robots, the wheel odometer is widely used in pose…
Estimating the pose of an unseen object is the goal of the challenging one-shot pose estimation task. Previous methods have heavily relied on feature matching with great success. However, these methods are often inefficient and limited by…
In this paper, we propose a global method for estimating the motion of a camera which films a static scene. Our approach is direct, fast and robust, and deals with adjacent frames of a sequence. It is based on a quadratic approximation of…
It is well known that the accuracy of a calibration depends strongly on the choice of camera poses from which images of a calibration object are acquired. We present a system -- Calibration Wizard -- that interactively guides a user towards…
The paper focuses on the stiffness modeling of heavy industrial robots with gravity compensators. The main attention is paid to the identification of geometrical and elastostatic parameters and calibration accuracy. To reduce impact of the…
In this paper, a self-calibration approach for eye-in-hand robots using SLAM is considered. The goal is to calibrate the positioning of a robotic arm, with a camera mounted on the end-effector automatically using a SLAM-based method like…
Optical cameras are gaining popularity as the suitable sensor for relative navigation in space due to their attractive sizing, power and cost properties when compared to conventional flight hardware or costly laser-based systems. However, a…
This paper proposes a new lightweight Transformer-based lifter that maps short sequences of human 2D joint positions to 3D poses using a single camera. The proposed model takes as input geometric priors including segment lengths and camera…
Background. Flexible bendable instruments are key tools for performing surgical endoscopy. Being able to measure the 3D position of such instruments can be useful for various tasks, such as controlling automatically robotized instruments…
Accurate in-hand pose estimation is crucial for robotic object manipulation, but visual occlusion remains a major challenge for vision-based approaches. This paper presents an approach to robotic in-hand object pose estimation, combining…
Automatic extrinsic sensor calibration is a fundamental problem for multi-sensor platforms. Reliable and general-purpose solutions should be computationally efficient, require few assumptions about the structure of the sensing environment,…
A misalignment of LiDAR as low as a few degrees could cause a significant error in obstacle detection and mapping that could cause safety and quality issues. In this paper, an accurate inspection system is proposed for estimating a LiDAR…
We address the problem of motion planning for a robotic manipulator with the task to place a grasped object in a cluttered environment. In this task, we need to locate a collision-free pose for the object that a) facilitates the stable…
The last several years have seen significant progress in using depth cameras for tracking articulated objects such as human bodies, hands, and robotic manipulators. Most approaches focus on tracking skeletal parameters of a fixed shape…
Recent advancements in constrained kinematic control make it an attractive strategy for controlling robots with arbitrary geometry in challenging tasks. Most current works assume that the robot kinematic model is precise enough for the task…
Stewart platform-based Parallel Kinematic (PKM) Machines have been extensively studied by researchers due to their inherent finer control characteristics. This has opened its potential deployment opportunities in versatile critical…
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,…
Geometric calibration of cameras and projectors is an essential step that must be performed before any imaging system can be used. There are many well-known geometric calibration methods for calibrating systems comprised of multiple…
Surgical robots are used to perform minimally invasive surgery and alleviate much of the burden imposed on surgeons. Our group has developed a surgical robot to aid in the removal of tumors at the base of the skull via access through the…
We propose an approach to estimate arm and hand dynamics from monocular video by utilizing the relationship between arm and hand. Although monocular full human motion capture technologies have made great progress in recent years, recovering…