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Remotely programming robots to execute tasks often relies on registering objects of interest in the robot's environment. Frequently, these tasks involve articulating objects such as opening or closing a valve. However, existing…

Augmented Reality and mobile robots are gaining much attention within industries due to the high potential to make processes cost and time efficient. To facilitate augmented reality, a calibration between the Augmented Reality device and…

In this paper, visible light positioning (VLP) where the receiver adopts a commercial image sensor is considered. We firstly analyze the theoretical limits and error source of the VLP system using image sensor. And then, we develop a VLP…

The fusion of LiDARs and cameras has been increasingly adopted in autonomous driving for perception tasks. The performance of such fusion-based algorithms largely depends on the accuracy of sensor calibration, which is challenging due to…

Automatic extrinsic sensor calibration is a fundamental problem for multi-sensor platforms. Reliable and general-purpose solutions should be computationally efficient, require few assumptions about the structure of the sensing environment,…

Stereo optical measurement techniques, such as digital image correlation (DIC), are widely used in 3D deformation measurement as non-contact, full-field measurement methods, in which stereo calibration is a crucial step. However, current…

Rotation-invariant face detection, i.e. detecting faces with arbitrary rotation-in-plane (RIP) angles, is widely required in unconstrained applications but still remains as a challenging task, due to the large variations of face…

3D point cloud registration is fragile to outliers, which are labeled as the points without corresponding points. To handle this problem, a widely adopted strategy is to estimate the relative pose based only on some accurate…

Robotic ultrasound (US) imaging has been seen as a promising solution to overcome the limitations of free-hand US examinations, i.e., inter-operator variability. However, the fact that robotic US systems cannot react to subject movements…

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…

With telescope apertures becoming larger and larger, the deployment of large-field telescopes is becoming increasingly popular. However, optical path calibration is necessary to ensure the image quality of large-field and large-diameter…

Conventional 3D human pose estimation relies on first detecting 2D body keypoints and then solving the 2D to 3D correspondence problem.Despite the promising results, this learning paradigm is highly dependent on the quality of the 2D…

Occlusions are a significant challenge to human pose estimation algorithms, often resulting in inaccurate and anatomically implausible poses. Although current occlusion-robust human pose estimation algorithms exhibit impressive performance…

Calibrating displays is a basic and regular task that content creators must perform to maintain optimal visual experience, yet it remains a troublesome issue. Measuring display characteristics from different viewpoints often requires…

Most realtime human pose estimation approaches are based on detecting joint positions. Using the detected joint positions, the yaw and pitch of the limbs can be computed. However, the roll along the limb, which is critical for application…

Time of flight based Non-line-of-sight (NLOS) imaging approaches require precise calibration of illumination and detector positions on the visible scene to produce reasonable results. If this calibration error is sufficiently high,…

Real-world robotics applications demand object pose estimation methods that work reliably across a variety of scenarios. Modern learning-based approaches require large labeled datasets and tend to perform poorly outside the training domain.…

We present an approach for real-time, robust and accurate hand pose estimation from moving egocentric RGB-D cameras in cluttered real environments. Existing methods typically fail for hand-object interactions in cluttered scenes imaged from…

Multi-beam LiDAR sensors are increasingly used in robotics, particularly with autonomous cars for localization and perception tasks, both relying on the ability to build a precise map of the environment. For this, we propose a new real-time…

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…