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Highly constrained manipulation tasks continue to be challenging for autonomous robots as they require high levels of precision, typically less than 1mm, which is often incompatible with what can be achieved by traditional perception…
In this paper, we present the novel task of estimating the extrinsic parameters of a virtual camera relative to a real camera in exercise videos with a mirror. This task poses a significant challenge in scenarios where the views from the…
In this paper we propose a new flexible method for hand-eye calibration. The vast majority of existing hand-eye calibration techniques requires a calibration rig which is used in conjunction with camera pose estimation methods. Instead, we…
When inverse kinematics (IK) is adopted to control robotic arms in manipulation tasks, there is often a discrepancy between the end effector (EE) position of the robot model in the simulator and the physical EE in reality. In most robotic…
Individual differences in brain activity hinder the online application of electroencephalogram (EEG)-based brain computer interface (BCI) systems. To overcome this limitation, this study proposes an online adaptation algorithm for unseen…
In this paper, we propose a robust 3D face recognition system which can handle pose as well as occlusions in real world. The system at first takes as input, a 3D range image, simultaneously registers it using ICP(Iterative Closest Point)…
We propose a real-time vision-based teleoperation approach for robotic arms that employs a single depth-based camera, exempting the user from the need for any wearable devices. By employing a natural user interface, this novel approach…
Vision based human pose estimation is an non-invasive technology for Human-Computer Interaction (HCI). Direct use of the hand as an input device provides an attractive interaction method, with no need for specialized sensing equipment, such…
This work presents an Online Supervised Training (OST) method to enable robust vision-based navigation about a non-cooperative spacecraft. Spaceborne Neural Networks (NN) are susceptible to domain gap as they are primarily trained with…
The success or failure of modern computer-assisted surgery procedures hinges on the precise six-degree-of-freedom (6DoF) position and orientation (pose) estimation of tracked instruments and tissue. In this paper, we present HMD-EgoPose, a…
Long-range Human-Robot Interaction (HRI) remains underexplored. Within it, Command Source Identification (CSI) - determining who issued a command - is especially challenging due to multi-user and distance-induced sensor ambiguity. We…
Autonomy in robot-assisted minimally invasive surgery has the potential to reduce surgeon cognitive and task load, thereby increasing procedural efficiency. However, implementing accurate autonomous control can be difficult due to poor…
The task of estimating the 6D pose of an object from RGB images can be broken down into two main steps: an initial pose estimation step, followed by a refinement procedure to correctly register the object and its observation. In this paper,…
We present HoloFace, an open-source framework for face alignment, head pose estimation and facial attribute retrieval for Microsoft HoloLens. HoloFace implements two state-of-the-art face alignment methods which can be used interchangeably:…
We propose a new cascaded regressor for eye center detection. Previous methods start from a face or an eye detector and use either advanced features or powerful regressors for eye center localization, but not both. Instead, we detect the…
Multi-modal object detection in autonomous driving has achieved great breakthroughs due to the usage of fusing complementary information from different sensors. The calibration in fusion between sensors such as LiDAR and camera was always…
In robotics, motion capture systems have been widely used to measure the accuracy of localization algorithms. Moreover, this infrastructure can also be used for other computer vision tasks, such as the evaluation of Visual (-Inertial) SLAM…
Head-worn displays for everyday wear in the form of regular eyeglasses are technically feasible with recent advances in waveguide technology. One major design decision is determining where in the user's visual field to position the display.…
Three-dimensional (3D) reconstruction of head Computed Tomography (CT) images elucidates the intricate spatial relationships of tissue structures, thereby assisting in accurate diagnosis. Nonetheless, securing an optimal head CT scan…
Precise sensor calibration is critical for autonomous vehicles as a prerequisite for perception algorithms to function properly. Rotation error of one degree can translate to position error of meters in target object detection at large…