Related papers: Automatic Robot Hand-Eye Calibration Enabled by Le…
We present an approach for safe and object-independent human-to-robot handovers using real time robotic vision and manipulation. We aim for general applicability with a generic object detector, a fast grasp selection algorithm and by using…
The task of camera calibration is to estimate the intrinsic and extrinsic parameters of a camera model. Though there are some restricted techniques to infer the 3-D information about the scene from uncalibrated cameras, effective camera…
Single-view RGB model-based object pose estimation methods achieve strong generalization but are fundamentally limited by depth ambiguity, clutter, and occlusions. Multi-view pose estimation methods have the potential to solve these issues,…
Camera-based perception systems play a central role in modern autonomous vehicles. These camera based perception algorithms require an accurate calibration to map the real world distances to image pixels. In practice, calibration is a…
Anytime a robot manipulator is controlled via visual feedback, the transformation between the robot and camera frame must be known. However, in the case where cameras can only capture a portion of the robot manipulator in order to better…
Human robot interaction is an exciting task, which aimed to guide robots following instructions from human. Since huge gap lies between human natural language and machine codes, end to end human robot interaction models is fair challenging.…
Attention (and distraction) recognition is a key factor in improving human-robot collaboration. We present an assembly scenario where a human operator and a cobot collaborate equally to piece together a gearbox. The setup provides multiple…
The creation of precise and high-resolution crop point clouds in agricultural fields has become a key challenge for high-throughput phenotyping applications. This work implements a novel calibration method to calibrate the laser scanning…
This paper presents an open source LiDAR-camera calibration toolbox that is general to LiDAR and camera projection models, requires only one pairing of LiDAR and camera data without a calibration target, and is fully automatic. For…
In real-world scenarios, many robotic manipulation tasks are hindered by occlusions and limited fields of view, posing significant challenges for passive observation-based models that rely on fixed or wrist-mounted cameras. In this paper,…
Camera calibration is a fundamental prerequisite for reliable geometric perception, yet classical approaches rely on controlled acquisition setups that are impractical for in-the-wild imagery. Recent learning-based methods have shown…
This work presents the most recent advances of the Robotic Testbed for Rendezvous and Optical Navigation (TRON) at Stanford University - the first robotic testbed capable of validating machine learning algorithms for spaceborne optical…
Research indicates that humans can mistakenly assume that robots and humans have the same field of view, possessing an inaccurate mental model of robots. This misperception may lead to failures during human-robot collaboration tasks where…
Grasping compliant objects is difficult for robots - applying too little force may cause the grasp to fail, while too much force may lead to object damage. A robot needs to apply the right amount of force to quickly and confidently grasp…
In-hand object reorientation has been a challenging problem in robotics due to high dimensional actuation space and the frequent change in contact state between the fingers and the objects. We present a simple model-free framework that can…
This paper presents a vision-based learning-by-demonstration approach to enable robots to learn and complete a manipulation task cooperatively. With this method, a vision system is involved in both the task demonstration and reproduction…
A technique for object localization based on pose estimation and camera calibration is presented. The 3-dimensional (3D) coordinates are estimated by collecting multiple 2-dimensional (2D) images of the object and are utilized for the…
Occlusions caused by a robot's own body is a common problem for closed-loop control methods employed in eye-to-hand camera setups. We propose an optimization-based reactive controller that minimizes self-occlusions while achieving a desired…
During retinal microsurgery, precise manipulation of the delicate retinal tissue is required for positive surgical outcome. However, accurate manipulation and navigation of surgical tools remain difficult due to a constrained workspace and…
Modeling hand-object manipulations is essential for understanding how humans interact with their environment. While of practical importance, estimating the pose of hands and objects during interactions is challenging due to the large mutual…