Related papers: EasyHeC: Accurate and Automatic Hand-eye Calibrati…
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…
Accurate multi-sensor calibration is essential for deploying robust perception systems in applications such as autonomous driving and intelligent transportation. Existing LiDAR-camera calibration methods often rely on manually placed…
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…
Robots need the capability of placing objects in arbitrary, specific poses to rearrange the world and achieve various valuable tasks. Object reorientation plays a crucial role in this as objects may not initially be oriented such that the…
For certain manipulation tasks, object pose estimation from head-mounted cameras may not be sufficiently accurate. This is at least in part due to our inability to perfectly calibrate the coordinate frames of today's high degree of freedom…
Sensor setups of robotic platforms commonly include both camera and LiDAR as they provide complementary information. However, fusing these two modalities typically requires a highly accurate calibration between them. In this paper, we…
Human pose estimation (HPE) is one of the most challenging tasks in computer vision as humans are deformable by nature and thus their pose has so much variance. HPE aims to correctly identify the main joint locations of a single person or…
Hand exoskeletons are critical tools for dexterous teleoperation and immersive manipulation interfaces, but achieving accurate hand tracking remains a challenge due to user-specific anatomical variability and donning inconsistencies. These…
In Robot-Assisted Minimally Invasive Surgery (RMIS), accurate tool localization is crucial to ensure patient safety and successful task execution. However, this remains challenging for cable-driven robots, such as the da Vinci robot,…
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,…
Markerless tracking of hands and fingers is a promising enabler for human-computer interaction. However, adoption has been limited because of tracking inaccuracies, incomplete coverage of motions, low framerate, complex camera setups, and…
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…
Hand guidance emerged from the safety requirements for collaborative robots, namely possessing joint-torque sensors. Since then it has proven to be a powerful tool for easy trajectory programming, allowing lay-users to reprogram robots…
Hand pose estimation has matured rapidly in recent years. The introduction of commodity depth sensors and a multitude of practical applications have spurred new advances. We provide an extensive analysis of the state-of-the-art, focusing on…
We present an approach for estimating the pose of an external camera with respect to a robot using a single RGB image of the robot. The image is processed by a deep neural network to detect 2D projections of keypoints (such as joints)…
In this work, we present an effective multi-view approach to closed-loop end-to-end learning of precise manipulation tasks that are 3D in nature. Our method learns to accomplish these tasks using multiple statically placed but uncalibrated…
Recent methods to automatically calibrate stationary eye trackers were shown to effectively reduce inherent calibration distortion. However, these methods require additional information, such as mouse clicks or on-screen content. We propose…
The paper deals with the design of experiments for manipulator geometric and elastostatic calibration based on the test-pose approach. The main attention is paid to the efficiency improvement of numerical techniques employed in the…
3-D pose estimation of instruments is a crucial step towards automatic scene understanding in robotic minimally invasive surgery. Although robotic systems can potentially directly provide joint values, this information is not commonly…
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…