Related papers: RegHEC: Hand-Eye Calibration via Simultaneous Mult…
Traditional nearest points methods use all the samples in an image set to construct a single convex or affine hull model for classification. However, strong artificial features and noisy data may be generated from combinations of training…
In this paper, we study the problem of 3D object segmentation from raw point clouds. Unlike all existing methods which usually require a large amount of human annotations for full supervision, we propose the first unsupervised method,…
This paper presents a Geometric-Photometric Joint Alignment~(GPJA) method, which aligns discrete human expressions at pixel-level accuracy by combining geometric and photometric information. Common practices for registering human heads…
Multiview point cloud registration is a fundamental task for constructing globally consistent 3D models. Existing approaches typically rely on feature extraction and data association across multiple point clouds; however, these processes…
This work introduces a novel and generalizable multi-view Hand Mesh Reconstruction (HMR) model, named POEM, designed for practical use in real-world hand motion capture scenarios. The advances of the POEM model consist of two main aspects.…
The use of Augmented Reality (AR) devices for surgical guidance has gained increasing traction in the medical field. Traditional registration methods often rely on external fiducial markers to achieve high accuracy and real-time…
It is now possible to estimate 3D human pose from monocular images with off-the-shelf 3D pose estimators. However, many practical applications require fine-grained absolute pose information for which multi-view cues and camera calibration…
Multi-view point cloud registration is fundamental in 3D reconstruction. Since there are close connections between point clouds captured from different viewpoints, registration performance can be enhanced if these connections be harnessed…
Accurate camera-to-lidar calibration is a requirement for sensor data fusion in many 3D perception tasks. In this paper, we present SceneCalib, a novel method for simultaneous self-calibration of extrinsic and intrinsic parameters in a…
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…
Calibrated confidence estimates obtained from neural networks are crucial, particularly for safety-critical applications such as autonomous driving or medical image diagnosis. However, although the task of confidence calibration has been…
Hand-eye calibration, which consists in identifying the rigid- body transformation between a camera mounted on the robot end-effector and the end-effector itself, is a fundamental problem in robot vision. Mathematically, this problem can be…
Advances in autonomous driving are inseparable from sensor fusion. Heterogeneous sensors are widely used for sensor fusion due to their complementary properties, with radar and camera being the most equipped sensors. Intrinsic and extrinsic…
In this paper, we present supervision-by-registration, an unsupervised approach to improve the precision of facial landmark detectors on both images and video. Our key observation is that the detections of the same landmark in adjacent…
Many underwater applications rely on vision sensors and require proper camera calibration, i.e. knowing the incoming light ray for each pixel in the image. While for the ideal pinhole camera model all viewing rays intersect in a single 3D…
During interactive segmentation, a model and a user work together to delineate objects of interest in a 3D point cloud. In an iterative process, the model assigns each data point to an object (or the background), while the user corrects…
Accurate spatiotemporal alignment of multi-view video streams is essential for a wide range of dynamic-scene applications such as multi-view 3D reconstruction, pose estimation, and scene understanding. However, synchronizing multiple…
Robotic calibration allows for the fusion of data from multiple sensors such as odometers, cameras, etc., by providing appropriate transformational relationships between the corresponding reference frames. For wheeled robots equipped with…
Image editing and compositing have become ubiquitous in entertainment, from digital art to AR and VR experiences. To produce beautiful composites, the camera needs to be geometrically calibrated, which can be tedious and requires a physical…
As robotic systems increasingly operate in unstructured, cluttered, and previously unseen environments, there is a growing need for manipulators that combine compliance, adaptability, and precise control. This work presents a real-time…