Related papers: Visual-based Kinematics and Pose Estimation for Sk…
This paper addresses the robustness problem of visual-inertial state estimation for underwater operations. Underwater robots operating in a challenging environment are required to know their pose at all times. All vision-based localization…
The estimation of 6D poses of rigid objects is a fundamental problem in computer vision. Traditionally pose estimation is concerned with the determination of a single best estimate. However, a single estimate is unable to express visual…
Autonomous multi-robot optical inspection systems are increasingly applied for obtaining inline measurements in process monitoring and quality control. Numerous methods for path planning and robotic coordination have been developed for…
Accurate and robust object state estimation enables successful object manipulation. Visual sensing is widely used to estimate object poses. However, in a cluttered scene or in a tight workspace, the robot's end-effector often occludes the…
SLAM (Simultaneous Localization and Mapping) and Odometry are important systems for estimating the position of mobile devices, such as robots and cars, utilizing one or more sensors. Particularly in camera-based SLAM or Odometry,…
This paper presents a contact-aided inertial-kinematic floating base estimation for humanoid robots considering an evolution of the state and observations over matrix Lie groups. This is achieved through the application of a geometrically…
In this paper, we propose the "Kinetics Observer", a novel estimator addressing the challenge of state estimation for legged robots using proprioceptive sensors (encoders, IMU and force/torque sensors). Based on a Multiplicative Extended…
Object pose estimation is a core perception task that enables, for example, object grasping and scene understanding. The widely available, inexpensive and high-resolution RGB sensors and CNNs that allow for fast inference based on this…
LiDAR-based SLAM is recognized as one effective method to offer localization guidance in rough environments. However, off-the-shelf LiDAR-based SLAM methods suffer from significant pose estimation drifts, particularly components relevant to…
Ergonomic assessment of human posture plays a vital role in understanding work-related safety and health. Current posture estimation approaches face occlusion challenges in teleoperation and physical human-robot interaction. We investigate…
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…
Recent advancements in visual-inertial motion capture systems have demonstrated the potential of combining monocular cameras with sparse inertial measurement units (IMUs) as cost-effective solutions, which effectively mitigate occlusion and…
The rapid growth of collaborative robotics in production requires new automation technologies that take human and machine equally into account. In this work, we describe a monocular camera based system to detect human-machine interactions…
Inertial odometry (IO) using strap-down inertial measurement units (IMUs) is critical in many robotic applications where precise orientation and position tracking are essential. Prior kinematic motion model-based IO methods often use a…
For applications in navigation and robotics, estimating the 3D pose of objects is as important as detection. Many approaches to pose estimation rely on detecting or tracking parts or keypoints [11, 21]. In this paper we build on a recent…
Robot positioning accuracy is a key factory when performing high-precision manufacturing tasks. To effectively improve the accuracy of a manipulator, often up to a value close to its repeatability, calibration plays a crucial role. In the…
Continuum robots are typically slender and flexible with infinite freedoms in theory, which poses a challenge for their control and application. The shape sensing of continuum robots is vital to realise accuracy control. This letter…
We address the problem of estimating the pose and shape of vehicles from LiDAR scans, a common problem faced by the autonomous vehicle community. Recent work has tended to address pose and shape estimation separately in isolation, despite…
Accurate estimation of the environment structure simultaneously with the robot pose is a key capability of autonomous robotic vehicles. Classical simultaneous localization and mapping (SLAM) algorithms rely on the static world assumption to…
In continuum robotics, real-time robust shape estimation is crucial for planning and control tasks that involve physical manipulation in complex environments. In this paper, we present a novel stochastic observer-based shape estimation…