Related papers: A Visual Kinematics Calibration Method for Manipul…
In pace with the electronic technology development and the production technology improvement, industrial robot Give Scope to the Advantage in social services and industrial production. However, due to long-term mechanical wear and…
Keypoint detection is an essential building block for many robotic applications like motion capture and pose estimation. Historically, keypoints are detected using uniquely engineered markers such as checkerboards or fiducials. More…
With 3D sensing becoming cheaper, environment-aware and visually-guided robot arms capable of safely working in collaboration with humans will become common. However, a reliable calibration is needed, both for camera internal calibration,…
Precision is a crucial performance indicator for robot arms, as high precision manipulation allows for a wider range of applications. Traditional methods for improving robot arm precision rely on error compensation. However, these methods…
Camera calibration is a crucial step in robotics and computer vision. Accurate camera parameters are necessary to achieve robust applications. Nowadays, camera calibration process consists of adjusting a set of data to a pin-hole model,…
Hand-eye calibration, as a fundamental task in vision-based robotic systems, aims to estimate the transformation matrix between the coordinate frame of the camera and the robot flange. Most approaches to hand-eye calibration rely on…
Determining extrinsic calibration parameters is a necessity in any robotic system composed of actuators and cameras. Once a system is outside the lab environment, parameters must be determined without relying on outside artifacts such as…
Hand-eye calibration is a critical task in robotics, as it directly affects the efficacy of critical operations such as manipulation and grasping. Traditional methods for achieving this objective necessitate the careful design of joint…
The paper focuses on the accuracy improvement of geometric and elasto-static calibration of industrial robots. It proposes industry-oriented performance measures for the calibration experiment design. They are based on the concept of…
Systems for estimating the six-degrees-of-freedom human body pose have been improving for over two decades. Technologies such as motion capture cameras, advanced gaming peripherals and more recently both deep learning techniques and virtual…
In robotics, motion capture systems have been widely used to measure the accuracy of localization algorithms. Moreover, this infrastructure can also be used for other computer vision tasks, such as the evaluation of Visual (-Inertial) SLAM…
Previous methods for 3D human motion recovery from monocular images often fall short due to reliance on camera coordinates, leading to inaccuracies in real-world applications. The limited availability and diversity of focal length labels…
Hand-eye calibration plays a fundamental role in robotics by directly influencing the efficiency of critical operations such as manipulation and grasping. In this work, we present a novel framework, EasyHeC++, designed for fully automatic…
Markerless estimation of 3D Kinematics has the great potential to clinically diagnose and monitor movement disorders without referrals to expensive motion capture labs; however, current approaches are limited by performing multiple…
Camera calibration is a crucial step in photogrammetry and 3D vision applications. This paper introduces a novel camera calibration method using a designed collimator system. Our collimator system provides a reliable and controllable…
We present a novel approach for mobile manipulator self-calibration using contact information. Our method, based on point cloud registration, is applied to estimate the extrinsic transform between a fixed vision sensor mounted on a mobile…
Mobile robot positioning, mapping, and navigation systems generally employ an inertial measurement unit (IMU) to obtain the acceleration and angular velocity of the robot. However, errors in the internal and external parameters of an IMU…
Sensor setups of robotic platforms commonly include both camera and LiDAR as they provide complementary information. However, fusing these two modalities typically requires a highly accurate calibration between them. In this paper, we…
High absolute accuracy is an essential prerequisite for a humanoid robot to autonomously and robustly perform manipulation tasks while avoiding obstacles. We present for the first time a kinematic model for a humanoid upper body…
The paper focuses on the calibration of elastostatic parameters of spatial anthropomorphic robots. It proposes a new strategy for optimal selection of the measurement configurations that essentially increases the efficiency of robot…