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We present a robot kinematic calibration method that combines complementary calibration approaches: self-contact, planar constraints, and self-observation. We analyze the estimation of the end effector parameters, joint offsets of the…

In the context of computer models, calibration is the process of estimating unknown simulator parameters from observational data. Calibration is variously referred to as model fitting, parameter estimation/inference, an inverse problem, and…

Suppose (standardized) measurements or statistics are monitored to raise an alarm when a threshold is exceeded. Often, the underlying population is heterogenous with respect to important discrete variables and thus samples may consist of…

For an autonomous vehicle, the ability to sense its surroundings and to build an overall representation of the environment by fusing different sensor data streams is fundamental. To this end, the poses of all sensors need to be accurately…

Surveillance videos and images are used for a broad set of applications, ranging from traffic analysis to crime detection. Extrinsic camera calibration data is important for most analysis applications. However, security cameras are…

The image-based visual servoing without models of system is challenging since it is hard to fetch an accurate estimation of hand-eye relationship via merely visual measurement. Whereas, the accuracy of estimated hand-eye relationship…

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…

This study proposes a novel self-calibration method for eye tracking in a virtual reality (VR) headset. The proposed method is based on the assumptions that the user's viewpoint can freely move and that the points of regard (PoRs) from…

Nearly all 3D displays need calibration for correct rendering. More often than not, the optical elements in a 3D display are misaligned from the designed parameter setting. As a result, 3D magic does not perform well as intended. The…

Mobile robotic applications need precise information about the geometric position of the individual sensors on the platform. This information is given by the extrinsic calibration parameters which define how the sensor is rotated and…

A problem faced by many instructors is that of designing exams that accurately assess the abilities of the students. Typically these exams are prepared several days in advance, and generic question scores are used based on rough…

Accurate human pose estimation is essential for effective Human-Robot Interaction (HRI). By observing a user's arm movements, robots can respond appropriately, whether it's providing assistance or avoiding collisions. While visual…

Deep learning-based object detectors have achieved impressive performance in microscopy imaging, yet their confidence estimates often lack calibration, limiting their reliability for biomedical applications. In this work, we introduce a new…

This paper revisits the problem of orientation estimation for rigid bodies through a novel framework based on scalar measurements. Unlike traditional vector-based methods, the proposed approach enables selective utilization of only the…

Many researchers have used machine learning models to control artificial hands, walking aids, assistance suits, etc., using the biological signal of electromyography (EMG). The use of such devices requires high classification accuracy of…

State-of-the-art object pose estimation methods are prone to generating geometrically infeasible pose hypotheses. This problem is prevalent in dexterous manipulation, where estimated poses often intersect with the robotic hand or are not…

In this paper, we present a method for simultaneous articulation model estimation and segmentation of an articulated object in RGB-D images using human hand motion. Our method uses the hand motion in the processes of the initial…

We commonly encounter the problem of identifying an optimally weight adjusted version of the empirical distribution of observed data, adhering to predefined constraints on the weights. Such constraints often manifest as restrictions on the…

There are several attitude estimation algorithms in existence, all of which use local coordinate representations for the group of rigid body orientations. All local coordinate representations of the group of orientations have associated…

Arbitrary-oriented object detection is a relatively emerging but challenging task. Although remarkable progress has been made, there still remain many unsolved issues due to the large diversity of patterns in orientation, scale, aspect…