Related papers: Online Estimation of Self-Body Deflection With Var…

We propose a probabilistic filtering method which fuses joint measurements with depth images to yield a precise, real-time estimate of the end-effector pose in the camera frame. This avoids the need for frame transformations when using it…

In this paper we describe a probabilistic method for estimating the position of an object along with its covariance matrix using neural networks. Our method is designed to be robust to outliers, have bounded gradients with respect to the…

Adaptive robotics plays an essential role in achieving truly co-creative cyber physical systems. In robotic manipulation tasks, one of the biggest challenges is to estimate the pose of given workpieces. Even though the recent…

We propose a system that estimates people's body and head orientations using low-resolution point cloud data from two LiDAR sensors. Our models make accurate estimations in real-world conversation settings where subjects move naturally with…

Estimating position and orientation change of a mobile platform from two consecutive point clouds provided by a high-resolution sensor is a key problem in autonomous navigation. In particular, scan matching algorithms aim to find the…

We introduce HARPER, a novel dataset for 3D body pose estimation and forecast in dyadic interactions between users and Spot, the quadruped robot manufactured by Boston Dynamics. The key-novelty is the focus on the robot's perspective, i.e.,…

Rigid body systems usually consider measurements of the pose of the body using onboard cameras/LiDAR systems, that of linear acceleration using an accelerometer and of angular velocity using an IMU. However, the measurements of the linear…

Deformation estimation of elastic object assuming an internal organ is important for the computer navigation of surgery. The aim of this study is to estimate the deformation of an entire three-dimensional elastic object using displacement…

Motion capture is facing some new possibilities brought by the inertial sensing technologies which do not suffer from occlusion or wide-range recordings as vision-based solutions do. However, as the recorded signals are sparse and quite…

This letter presents a cooperative relative multi-robot localization design and experimental study. We propose a flexible Monte Carlo approach leveraging a particle filter to estimate relative states. The estimation can be based on…

Accurate pose and velocity estimation is essential for effective spatial task planning in robotic manipulators. While centralized sensor fusion has traditionally been used to improve pose estimation accuracy, this paper presents a novel…

In this paper, we propose an iterative self-training framework for sim-to-real 6D object pose estimation to facilitate cost-effective robotic grasping. Given a bin-picking scenario, we establish a photo-realistic simulator to synthesize…

In this paper, we propose a global method for estimating the motion of a camera which films a static scene. Our approach is direct, fast and robust, and deals with adjacent frames of a sequence. It is based on a quadratic approximation of…

This paper presents a general refractive camera model and online co-estimation of odometry and the refractive index of unknown media. This enables operation in diverse and varying refractive fluids, given only the camera calibration in air.…

Due to the declining birthrate and aging population, the shortage of labor in the construction industry has become a serious problem, and increasing attention has been paid to automation of construction equipment. We focus on the automatic…

The present work considers the localization problem in wireless sensor networks formed by fixed nodes. Each node seeks to estimate its own position based on noisy measurements of the relative distance to other nodes. In a centralized batch…

Sensing contact pressure applied by a gripper can benefit autonomous and teleoperated robotic manipulation, but adding tactile sensors to a gripper's surface can be difficult or impractical. If a gripper visibly deforms, contact pressure…

This paper presents an attempt to replicate the robot imitation work conducted by Sermanet et al., with a specific focus on the experiments involving robot joint position prediction. While the original study utilized human poses to predict…

Information about the vehicle sideslip angle is crucial for the successful implementation of advanced stability control systems. In production vehicles, sideslip angle is difficult to measure within the desired accuracy level because of…

Determining the state of a mobile robot is an essential building block of robot navigation systems. In this paper, we address the problem of estimating the robots pose in an indoor environment using 2D LiDAR data and investigate how modern…