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In this work, we present a geometry-based grasping algorithm that is capable of efficiently generating both top and side grasps for unknown objects, using a single view RGB-D camera, and of selecting the most promising one. We demonstrate…

Accurate knowledge of object poses is crucial to successful robotic manipulation tasks, and yet most current approaches only work in laboratory settings. Noisy sensors and cluttered scenes interfere with accurate pose recognition, which is…

Humans have the remarkable ability to use held objects as tools to interact with their environment. For this to occur, humans internally estimate how hand movements affect the object's movement. We wish to endow robots with this capability.…

Currently, mobile robots are developing rapidly and are finding numerous applications in the industry. However, several problems remain related to their practical use, such as the need for expensive hardware and high power consumption…

Accurate 3D pose estimation of grasped objects is an important prerequisite for robots to perform assembly or in-hand manipulation tasks, but object occlusion by the robot's own hand greatly increases the difficulty of this perceptual task.…

This paper presents a robust and efficient semi-dense visual odometry solution for RGB-D cameras. The core of our method is a 2D-3D ICP pipeline which estimates the pose of the sensor by registering the projection of a 3D semi-dense map of…

Simultaneous Localization and Mapping using RGB-D cameras has been a fertile research topic in the latest decade, due to the suitability of such sensors for indoor robotics. In this paper we propose a direct RGB-D SLAM algorithm with…

3D sensors, also known as RGB-D sensors, utilize depth images where each pixel measures the distance from the camera to objects, using principles like structured light or time-of-flight. Advances in artificial vision have led to affordable…

We consider the problem of human pose estimation. While much recent work has focused on the RGB domain, these techniques are inherently under-constrained since there can be many 3D configurations that explain the same 2D projection. To this…

Rather than sending used containers and materials to the landfill, recycling can help lower the human impact on the environment. However, manually sorting the mixture of incoming material can be both costly and potentially harmful to the…

This paper presents planning algorithms for a robotic manipulator with a fixed base in order to grasp a target object in cluttered environments. We consider a configuration of objects in a confined space with a high density so no…

Robotic vision plays a key role for perceiving the environment in grasping applications. However, the conventional framed-based robotic vision, suffering from motion blur and low sampling rate, may not meet the automation needs of evolving…

Despite the recent progress on 6D object pose estimation methods for robotic grasping, a substantial performance gap persists between the capabilities of these methods on existing datasets and their efficacy in real-world grasping and…

Existing marker-less motion capture methods often assume known backgrounds, static cameras, and sequence specific motion priors, which narrows its application scenarios. Here we propose a fully automatic method that given multi-view video,…

Many mobile robots rely on 2D laser scanners for localization, mapping, and navigation. However, those sensors are unable to correctly provide distance to obstacles such as glass panels and tables whose actual occupancy is invisible at the…

During in-hand manipulation, robots must be able to continuously estimate the pose of the object in order to generate appropriate control actions. The performance of algorithms for pose estimation hinges on the robot's sensors being able to…

Both, robot and hand-eye calibration haven been object to research for decades. While current approaches manage to precisely and robustly identify the parameters of a robot's kinematic model, they still rely on external devices, such as…

Many modern robotic systems operate autonomously, however they often lack the ability to accurately analyze the environment and adapt to changing external conditions, while teleoperation systems often require special operator skills. In the…

Many robotic tasks rely on the accurate localization of moving objects within a given workspace. This information about the objects' poses and velocities are used for control,motion planning, navigation, interaction with the environment or…

Accurate robotic manipulation of test tubes in biology and medical industries is becoming increasingly important to address workforce shortages and improve worker safety. The detection and localization of test tubes are essential for the…