Related papers: A Visual Kinematics Calibration Method for Manipul…

During in-hand manipulation, robots must be able to continuously estimate the pose of the object in order to generate appropriate control actions. The performance of algorithms for pose estimation hinges on the robot's sensors being able to…

Good geometrical calibration is essential in the use of high resolution detectors. The individual sensors in the detector have to be calibrated with an accuracy better than the intrinsic resolution, which typically is of the order of 10 um.…

Camera calibration is integral to robotics and computer vision algorithms that seek to infer geometric properties of the scene from visual input streams. In practice, calibration is a laborious procedure requiring specialized data…

Articulated hand pose estimation is a challenging task for human-computer interaction. The state-of-the-art hand pose estimation algorithms work only with one or a few subjects for which they have been calibrated or trained. Particularly,…

Hand-eye calibration is a common problem in the field of collaborative robotics, involving the determination of the transformation matrix between the visual sensor and the robot flange to enable vision-based robotic tasks. However, this…

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…

Compact and low-cost devices are needed for autonomous driving to image and measure distances to objects 360-degree around. We have been developing an omnidirectional stereo camera exploiting two hyperbolic mirrors and a single set of a…

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…

Miniaturized instruments are highly needed for robot assisted medical healthcare and treatment, especially for less invasive surgery as it empowers more flexible access to restricted anatomic intervention. But the robotic design is more…

In the era of the metaverse, self-avatars are gaining popularity, as they can enhance presence and provide embodiment when a user is immersed in Virtual Reality. They are also very important in collaborative Virtual Reality to improve…

Whole-body geometric calibration of humanoid robots using classical robot calibration methods is a timeconsuming and experimentally burdensome task. However, despite its significance for accurate control and simulation, it is often…

Global visual localization estimates the absolute pose of a camera using a single image, in a previously mapped area. Obtaining the pose from a single image enables many robotics and augmented/virtual reality applications. Inspired by…

3D human pose estimation is frequently seen as the task of estimating 3D poses relative to the root body joint. Alternatively, we propose a 3D human pose estimation method in camera coordinates, which allows effective combination of 2D…

Currently, there are no learning-free or neural techniques for real-time recalibration of infrared multi-camera systems. In this paper, we address the challenge of real-time, highly-accurate calibration of multi-camera infrared systems, a…

The recent development of calibration algorithms has been driven into two major directions: (1) an increasing accuracy of mathematical approaches and (2) an increasing flexibility in usage by reducing the dependency on calibration objects.…

Depth and ego-motion estimations are essential for the localization and navigation of autonomous robots and autonomous driving. Recent studies make it possible to learn the per-pixel depth and ego-motion from the unlabeled monocular video.…

State-of-the-art object pose estimation methods are prone to generating geometrically infeasible pose hypotheses. This problem is prevalent in dexterous manipulation, where estimated poses often intersect with the robotic hand or are not…

In this article we purpose a novel method for planar pose estimation of mobile robots. This method is based on an analytic solution (which we derived) for the projection of 3D straight lines, onto the mirror of Non-Central Catadioptric…

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…

This study proposes a novel self-calibration method for eye tracking in a virtual reality (VR) headset. The proposed method is based on the assumptions that the user's viewpoint can freely move and that the points of regard (PoRs) from…