Related papers: Extrinsic calibration for highly accurate trajecto…
Differential GPS, commonly referred as DGPS, is a well-known and very accurate localization system for many outdoor applications in particular for mobile outdoor robotics. The most common drawback of DGPS systems are the high costs for both…
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,…
Grasping in cluttered environments is a fundamental but challenging robotic skill. It requires both reasoning about unseen object parts and potential collisions with the manipulator. Most existing data-driven approaches avoid this problem…
We present a tracking system for relative positioning that can operate on entirely moving tracking nodes without the need for stationary anchors. Each node embeds a 9-DOF magnetic and inertial measurement unit and a single-antenna…
Global localisation from visual data is a challenging problem applicable to many robotics domains. Prior works have shown that neural networks can be trained to map images of an environment to absolute camera pose within that environment,…
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…
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…
Re-localizing a camera from a single image in a previously mapped area is vital for many computer vision applications in robotics and augmented/virtual reality. In this work, we address the problem of estimating the 6 DoF camera pose…
Camera extrinsic calibration is a fundamental task in computer vision. However, precise relative pose estimation in constrained, highly distorted environments, such as in-cabin automotive monitoring (ICAM), remains challenging. We present…
We present an approach for estimating a mobile robot's pose w.r.t. the allocentric coordinates of a network of static cameras using multi-view RGB images. The images are processed online, locally on smart edge sensors by deep neural…
Robotic eye-in-hand calibration is the task of determining the rigid 6-DoF pose of the camera with respect to the robot end-effector frame. In this paper, we formulate this task as a non-linear optimization problem and introduce an active…
Robot pose estimation is a challenging and crucial task for vision-based surgical robotic automation. Typical robotic calibration approaches, however, are not applicable to surgical robots, such as the da Vinci Research Kit (dVRK), due to…
Most intelligent transportation systems use a combination of radar sensors and cameras for robust vehicle perception. The calibration of these heterogeneous sensor types in an automatic fashion during system operation is challenging due to…
Stable and accurate tracking is essential for marine robotics, yet Global Navigation Satellite System (GNSS) signals vanish immediately below the sea surface. Traditional alternatives suffer from error accumulation, high computational…
Global Navigation Satellite Systems (GNSS) aided Inertial Navigation System (INS) is a fundamental approach for attaining continuously available absolute vehicle position and full state estimates at high bandwidth. For transportation…
Camera-LiDAR extrinsic calibration is a critical task for multi-sensor fusion in autonomous systems, such as self-driving vehicles and mobile robots. Traditional techniques often require manual intervention or specific environments, making…
Accurate localization is crucial for water robotics, yet traditional onboard Global Navigation Satellite System (GNSS) approaches are difficult or ineffective due to signal reflection on the water's surface and its high cost of aquatic GNSS…
Legged robots are becoming popular not only in research, but also in industry, where they can demonstrate their superiority over wheeled machines in a variety of applications. Either when acting as mobile manipulators or just as all-terrain…
Camera calibration is a process of paramount importance in computer vision applications that require accurate quantitative measurements. The popular method developed by Zhang relies on the use of a large number of images of a planar grid of…
Calibration of fixtures in robotic work cells is essential but also time consuming and error-prone, and poor calibration can easily lead to wasted debugging time in downstream tasks. Contact-based calibration methods let the user measure…