Related papers: Relative Pose for Nonrigid Multi-Perspective Camer…

We address the challenge of reliable and accurate proprioception in soft robots, specifically those with tight packaging constraints and relying only on internally embedded sensors. While various sensing approaches with single sensors have…

We study the use of overlapping and non-overlapping camera layouts in estimating the ego-motion of a moving robot. To estimate the location and orientation of the robot, we investigate using four cameras as non-overlapping individuals, and…

We present MVTOP, a novel transformer-based method for multi-view rigid object pose estimation. Through an early fusion of the view-specific features, our method can resolve pose ambiguities that would be impossible to solve with a single…

Robotic grippers are receiving increasing attention in various industries as essential components of robots for interacting and manipulating objects. While significant progress has been made in the past, conventional rigid grippers still…

Relative Pose Regression (RPR) generalizes well to unseen environments, but its performance is often limited due to pairwise and local spatial views. To this end, we propose MultiLoc, a novel multi-view guided RPR model trained at scale,…

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)…

Optical cameras are gaining popularity as the suitable sensor for relative navigation in space due to their attractive sizing, power and cost properties when compared to conventional flight hardware or costly laser-based systems. However, a…

The performance of image-based Reinforcement Learning (RL) agents can vary depending on the position of the camera used to capture the images. Training on multiple cameras simultaneously, including a first-person egocentric camera, can…

The pose of a rigid object is usually regarded as a rigid transformation, described by a translation and a rotation. However, equating the pose space with the space of rigid transformations is in general abusive, as it does not account for…

This paper is a theoretical study of the following Non-Rigid Structure from Motion problem. What can be computed from a monocular view of a parametrically deforming set of points? We treat various variations of this problem for affine and…

Accurate and robust extrinsic calibration is necessary for deploying autonomous systems which need multiple sensors for perception. In this paper, we present a robust system for real-time extrinsic calibration of multiple lidars in vehicle…

Vision-based perception systems are typically exposed to large orientation changes in different robot applications. In such conditions, their performance might be compromised due to the inherent complexity of processing data captured under…

Its numerous applications make multi-human 3D pose estimation a remarkably impactful area of research. Nevertheless, assuming a multiple-view system composed of several regular RGB cameras, 3D multi-pose estimation presents several…

Object tracking is a key aspect in many applications such as augmented reality in medicine (e.g. tracking a surgical instrument) or robotics. Squared planar markers have become popular tools for tracking since their pose can be estimated…

In this paper, we propose a method for estimating in-hand object poses using proprioception and tactile feedback from a bimanual robotic system. Our method addresses the problem of reducing pose uncertainty through a sequence of frictional…

Estimating camera intrinsics and extrinsics is a fundamental problem in computer vision, and while advances in structure-from-motion (SfM) have improved accuracy and robustness, open challenges remain. In this paper, we introduce a robust…

Relative localization between autonomous robots without infrastructure is crucial to achieve their navigation, path planning, and formation in many applications, such as emergency response, where acquiring a prior knowledge of the…

This paper is concerned with possibility of recovery of motion and structure parameters from multiframes under perspective projection when only points on a rigid body are traced. Free (unrestricted and uncontrolled) pattern of motion…

Human motion capture either requires multi-camera systems or is unreliable when using single-view input due to depth ambiguities. Meanwhile, mirrors are readily available in urban environments and form an affordable alternative by recording…

Precisely grasping an object is a challenging task due to pose uncertainties. Conventional methods have used cameras and fixtures to reduce object uncertainty. They are effective but require intensive preparation, such as designing jigs…