Related papers: Fixture calibration with guaranteed bounds from a …
Whenever a sensor is mounted on a robot hand it is important to know the relationship between the sensor and the hand. The problem of determining this relationship is referred to as hand-eye calibration, which is important in at least two…
We present a contact-implicit trajectory optimization framework that can plan contact-interaction trajectories for different robot architectures and tasks using a trivial initial guess and without requiring any parameter tuning. This is…
Typical Structure-from-Motion (SfM) pipelines rely on finding correspondences across images, recovering the projective structure of the observed scene and upgrading it to a metric frame using camera self-calibration constraints. Solving…
We study zero-shot 3D alignment of two given meshes, using a text prompt describing their spatial relation -- an essential capability for content creation and scene assembly. Earlier approaches primarily rely on geometric alignment…
Robotic manipulation in unstructured environments requires planners to reason jointly about free-space motion and sustained, frictional contact with the environment. Existing (local) planning and simulation frameworks typically separate…
Sensor fusion is vital for the safe and robust operation of autonomous vehicles. Accurate extrinsic sensor to sensor calibration is necessary to accurately fuse multiple sensor's data in a common spatial reference frame. In this paper, we…
Accurate sensor calibration is a prerequisite for multi-sensor perception and localization systems for autonomous vehicles. The intrinsic parameter calibration of the sensor is to obtain the mapping relationship inside the sensor, and the…
The paper focuses on the calibration of elastostatic parameters of spatial anthropomorphic robots. It proposes a new strategy for optimal selection of the measurement configurations that essentially increases the efficiency of robot…
Post-hoc calibration methods are widely used to improve the reliability of probabilistic predictions from machine learning models. Despite their prevalence, a comprehensive theoretical understanding of these methods remains elusive,…
Good geometrical calibration is essential in the use of high resolution detectors. The individual sensors in the detector have to be calibrated with an accuracy better than the intrinsic resolution, which typically is of the order of 10 um.…
Current approaches to grasp planning for robotics demonstrate high success rates, but degrade with noisy sensors and other factors. Previous works have proposed tactile-based grasp stability classifiers to detect failures, but these…
Calibration or parameter identification is used with computational mechanics models related to observed data of the modeled process to find model parameters such that good similarity between model prediction and observation is achieved. We…
Visual navigation devices require precise calibration to achieve high-precision localization and navigation, which includes camera and attitude calibration. To address the limitations of time-consuming camera calibration and complex…
A key challenge towards the goal of multi-part assembly tasks is finding robust sensorimotor control methods in the presence of uncertainty. In contrast to previous works that rely on a priori knowledge on whether two parts match, we aim to…
Achieving safe and reliable autonomous driving relies greatly on the ability to achieve an accurate and robust perception system; however, this cannot be fully realized without precisely calibrated sensors. Environmental and operational…
Machine learning classifiers are probabilistic in nature, and thus inevitably involve uncertainty. Predicting the probability of a specific input to be correct is called uncertainty (or confidence) estimation and is crucial for risk…
Camera calibration is a process of paramount importance in computer vision applications that require accurate quantitative measurements. The popular method developed by Zhang relies on the use of a large number of images of a planar grid of…
We propose an unsupervised vision-based system to estimate the joint configurations of the robot arm from a sequence of RGB or RGB-D images without knowing the model a priori, and then adapt it to the task of category-independent…
Robotic calibration allows for the fusion of data from multiple sensors such as odometers, cameras, etc., by providing appropriate transformational relationships between the corresponding reference frames. For wheeled robots equipped with…
This manuscript provides a new framework for calibration of optical instruments, in particular mobile cameras, using large-scale circular black and white target fields. New methods were introduced for (i) matching targets between images;…