Related papers: RegHEC: Hand-Eye Calibration via Simultaneous Mult…
This paper investigates the direct application of standardized designs on the robot for conducting robot hand-eye calibration by employing 3D scanners with collaborative robots. The well-established geometric features of the robot flange…
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…
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…
Achieving globally optimal point cloud registration under partial overlaps and large misalignments remains a fundamental challenge. While simultaneous transformation ($\boldsymbol{\theta}$) and correspondence ($\mathbf{P}$) estimation has…
Recovering high-fidelity 3D hand geometry from images is a critical task in computer vision, holding significant value for domains such as robotics, animation and VR/AR. Crucially, scalable applications demand both accuracy and deployment…
Point cloud registration aligns multiple unposed point clouds into a common reference frame and is a core step for 3D reconstruction and robot localization without initial guess. In this work, we cast registration as conditional generation:…
Images of the eye are key in several computer vision problems, such as shape registration and gaze estimation. Recent large-scale supervised methods for these problems require time-consuming data collection and manual annotation, which can…
Non-rigid point cloud registration is a crucial task in computer vision. Evaluating a non-rigid point cloud registration method requires a dataset with challenges such as large deformation levels, noise, outliers, and incompleteness.…
Scene-level point cloud registration is very challenging when considering dynamic foregrounds. Existing indoor datasets mostly assume rigid motions, so the trained models cannot robustly handle scenes with non-rigid motions. On the other…
The inaccessibility of user-perceived reality remains an open issue in pursuing the accurate calibration of optical see-through (OST) head-mounted displays (HMDs). Manual user alignment is usually required to collect a set of…
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…
We present a novel, end-to-end learnable, multiview 3D point cloud registration algorithm. Registration of multiple scans typically follows a two-stage pipeline: the initial pairwise alignment and the globally consistent refinement. The…
Partial point cloud registration is essential for autonomous perception and 3D scene understanding, yet it remains challenging owing to structural ambiguity, partial visibility, and noise. We address these issues by proposing Confidence…
Camera-to-robot (also known as eye-to-hand) calibration is a critical component of vision-based robot manipulation. Traditional marker-based methods often require human intervention for system setup. Furthermore, existing autonomous…
In this work, we introduce the Virtual In-Hand Eye Transformer (VIHE), a novel method designed to enhance 3D manipulation capabilities through action-aware view rendering. VIHE autoregressively refines actions in multiple stages by…
The need to relate measurements made by a camera to a different known coordinate system arises in many engineering applications. Historically, it appeared for the first time in the connection with cameras mounted on robotic systems. This…
This paper presents MEMROC (Multi-Eye to Mobile RObot Calibration), a novel motion-based calibration method that simplifies the process of accurately calibrating multiple cameras relative to a mobile robot's reference frame. MEMROC utilizes…
With 3D sensing becoming cheaper, environment-aware and visually-guided robot arms capable of safely working in collaboration with humans will become common. However, a reliable calibration is needed, both for camera internal calibration,…
As robotics progresses toward general manipulation, dexterous hands are becoming increasingly critical. However, proprioception in dexterous hands remains a bottleneck due to limitations in volume and generality. In this work, we present…
Hand-eye calibration is an important and extensively researched method for calibrating rigidly coupled sensors, solely based on estimates of their motion. Due to the geometric structure of this problem, at least two motion estimates with…