Related papers: Improving rigid 3D calibration for robotic surgery
We present an approach for estimating the pose of an external camera with respect to a robot using a single RGB image of the robot. The image is processed by a deep neural network to detect 2D projections of keypoints (such as joints)…
In this paper, we present an accelerometer-based kinematic calibration algorithm to accurately estimate the pose of multiple sensor units distributed along a robot body. Our approach is self-contained, can be used on any robot provided with…
Robot manipulation, especially bimanual manipulation, often requires setting up multiple cameras on multiple robot manipulators. Before robot manipulators can generate motion or even build representations of their environments, the cameras…
Current traditional methods for LiDAR-camera extrinsics estimation depend on offline targets and human efforts, while learning-based approaches resort to iterative refinement for calibration results, posing constraints on their…
Accurate sensor calibration is crucial for autonomous systems, yet its uncertainty quantification remains underexplored. We present the first approach to integrate uncertainty awareness into online extrinsic calibration, combining Monte…
Accurate sensor calibration is a prerequisite for multi-sensor perception and localization systems for autonomous vehicles. The intrinsic parameter calibration of the sensor is to obtain the mapping relationship inside the sensor, and the…
Medical augmented reality has been actively studied for decades and many methods have been proposed torevolutionize clinical procedures. One example is the camera augmented mobile C-arm (CAMC), which providesa real-time video augmentation…
In this paper we perform an experimental comparison of three different target based 3D-LIDAR camera calibration algorithms. We briefly elucidate the mathematical background behind each method and provide insights into practical aspects like…
Existing shape estimation methods for deformable object manipulation suffer from the drawbacks of being off-line, model dependent, noise-sensitive or occlusion-sensitive, and thus are not appropriate for manipulation tasks requiring high…
Purpose: In this paper, we present a novel approach to the automatic evaluation of open surgery skills using depth cameras. This work is intended to show that depth cameras achieve similar results to RGB cameras, which is the common method…
Precision robotic manipulation tasks (insertion, screwing, precisely pick, precisely place) are required in many scenarios. Previous methods achieved good performance on such manipulation tasks. However, such methods typically require…
Over the past few years, deep learning techniques have achieved tremendous success in many visual understanding tasks such as object detection, image segmentation, and caption generation. Despite this thriving in computer vision and natural…
The accurate and robust calibration result of sensors is considered as an important building block to the follow-up research in the autonomous driving and robotics domain. The current works involving extrinsic calibration between 3D LiDARs…
The recent years have given rise to a large number of techniques for "looking around corners", i.e., for reconstructing occluded objects from time-resolved measurements of indirect light reflections off a wall. While the direct view of…
Visual-inertial systems rely on precise calibrations of both camera intrinsics and inter-sensor extrinsics, which typically require manually performing complex motions in front of a calibration target. In this work we present a novel…
In this paper, we propose SCALAR, a calibration method to simultaneously calibrate the kinematic parameters of a 6-DoF robot and the extrinsic parameters of a 2D Laser Range Finder (LRF) attached to the robot's flange. The calibration setup…
Multi-perspective cameras are quickly gaining importance in many applications such as smart vehicles and virtual or augmented reality. However, a large system size or absence of overlap in neighbouring fields-of-view often complicate their…
Purpose: Comprehensive legal medicine documentation includes both an internal but also an external examination of the corpse. Typically, this documentation is conducted manually during conventional autopsy. A systematic digital…
Robotic automation has the potential to assist human surgeons in performing suturing tasks in microsurgery, and in order to do so a robot must be able to guide a needle with sub-millimeter precision through soft tissue. This paper presents…
Visual-Inertial (VI) sensors are popular in robotics, self-driving vehicles, and augmented and virtual reality applications. In order to use them for any computer vision or state-estimation task, a good calibration is essential. However,…