Related papers: Improving rigid 3D calibration for robotic surgery
Camera calibration is an important prerequisite towards the solution of 3D computer vision problems. Traditional methods rely on static images of a calibration pattern. This raises interesting challenges towards the practical usage of event…
In 3D reconstruction, the recovery of the calibration parameters of the cameras is paramount since it provides metric information about the observed scene, e.g., measures of angles and ratios of distances. Autocalibration enables the…
The advancement of simulation-assisted robot programming, automation of high-tolerance assembly operations, and improvement of real-world performance engender a need for positionally accurate robots. Despite tight machining tolerances, good…
Robotic assistance allows surgeries to be reliably and accurately executed while still under direct supervision of the surgeon, combining the strengths of robotic technology with the surgeon's expertise. This paper describes a robotic…
Most sensor setups for onboard autonomous perception are composed of LiDARs and vision systems, as they provide complementary information that improves the reliability of the different algorithms necessary to obtain a robust scene…
Accurate camera-to-lidar calibration is a requirement for sensor data fusion in many 3D perception tasks. In this paper, we present SceneCalib, a novel method for simultaneous self-calibration of extrinsic and intrinsic parameters in a…
Accurate intrinsic and extrinsic camera calibration can be an important prerequisite for robotic applications that rely on vision as input. While there is ongoing research on enabling camera calibration using natural images, many systems in…
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…
Multi-view capture systems are complex systems to engineer. They require technical knowledge to install and intricate processes to setup related mainly to the sensors' spatial alignment (i.e. external calibration). However, with the ongoing…
This manuscript provides a new framework for calibration of optical instruments, in particular mobile cameras, using large-scale circular black and white target fields. New methods were introduced for (i) matching targets between images;…
Recently, industrial robots plays a significant role in intelligent manufacturing. Hence, it is an urgent issue to ensure the robot with the high positioning precision. To address this hot issue, a novel calibration method based on an…
Modern robotic manipulation primarily relies on visual observations in a 2D color space for skill learning but suffers from poor generalization. In contrast, humans, living in a 3D world, depend more on physical properties-such as distance,…
Camera calibration is an essential first step in setting up 3D Computer Vision systems. Commonly used parametric camera models are limited to a few degrees of freedom and thus often do not optimally fit to complex real lens distortion. In…
Occlusion-free video generation is challenging due to surgeons' obstructions in the camera field of view. Prior work has addressed this issue by installing multiple cameras on a surgical light, hoping some cameras will observe the surgical…
We present a robot kinematic calibration method that combines complementary calibration approaches: self-contact, planar constraints, and self-observation. We analyze the estimation of the end effector parameters, joint offsets of the…
Adaptive (or deformable) mirrors are widely used as wavefront correctors in adaptive optics systems. The optical calibration of an adaptive mirror is a fundamental step during its life-cycle: the process is in facts required to compute a…
Most algorithms in 3D computer vision rely on the pinhole camera model because of its simplicity, whereas virtually all imaging devices introduce certain amount of nonlinear distortion, where the radial distortion is the most severe part.…
Current perception systems often carry multimodal imagers and sensors such as 2D cameras and 3D LiDAR sensors. To fuse and utilize the data for downstream perception tasks, robust and accurate calibration of the multimodal sensor data is…
The use of datasets is getting more relevance in surgical robotics since they can be used to recognise and automate tasks. Also, this allows to use common datasets to compare different algorithms and methods. The objective of this work is…
Accurate 3D reconstruction using multi-camera RGB-D systems critically depends on precise extrinsic calibration to achieve proper alignment between captured views. In this paper, we introduce an iterative extrinsic calibration method that…