Related papers: An iterative closest point algorithm for marker-fr…
Accurate 6D object pose estimation is fundamental to robotic manipulation and grasping. Previous methods follow a local optimization approach which minimizes the distance between closest point pairs to handle the rotation ambiguity of…
In contrast to conventional robots, accurately modeling the kinematics and statics of continuum robots is challenging due to partially unknown material properties, parasitic effects, or unknown forces acting on the continuous body.…
Soft bodies made from flexible and deformable materials are popular in many robotics applications, but their proprioceptive sensing has been a long-standing challenge. In other words, there has hardly been a method to measure and model the…
This paper addresses recursive markerless estimation of a robot's end-effector using visual observations from its cameras. The problem is formulated into the Bayesian framework and addressed using Sequential Monte Carlo (SMC) filtering. We…
Registration algorithms, such as Iterative Closest Point (ICP), have proven effective in mobile robot localization algorithms over the last decades. However, they are susceptible to failure when a robot sustains extreme velocities and…
In the context of future manufacturing lines, removing fixtures will be a fundamental step to increase the flexibility of autonomous systems in assembly and logistic operations. Vision-based 3D pose estimation is a necessity to accurately…
Robotic ultrasound (US) imaging has been seen as a promising solution to overcome the limitations of free-hand US examinations, i.e., inter-operator variability. However, the fact that robotic US systems cannot react to subject movements…
Solving the camera-to-robot pose is a fundamental requirement for vision-based robot control, and is a process that takes considerable effort and cares to make accurate. Traditional approaches require modification of the robot via markers,…
Deep Learning-based 2D/3D registration methods are highly robust but often lack the necessary registration accuracy for clinical application. A refinement step using the classical optimization-based 2D/3D registration method applied in…
3D spatial perception is fundamental to generalizable robotic manipulation, yet obtaining reliable, high-quality 3D geometry remains challenging. Depth sensors suffer from noise and material sensitivity, while existing reconstruction models…
Human pose estimation is a very active research field, stimulated by its important applications in robotics, entertainment or health and sports sciences, among others. Advances in convolutional networks triggered noticeable improvements in…
The 3D depth estimation and relative pose estimation problem within a decentralized architecture is a challenging problem that arises in missions that require coordination among multiple vision-controlled robots. The depth estimation…
Continuum robots are becoming increasingly popular for applications which require the robots to deform and change shape, while also being compliant. A cable-driven continuum robot is one of the most commonly used type. Typical cable driven…
Pneumatic soft robots present many advantages in manipulation tasks. Notably, their inherent compliance makes them safe and reliable in unstructured and fragile environments. However, full-body shape sensing for pneumatic soft robots is…
In this paper, we derive a probabilistic registration algorithm for object modeling and tracking. In many robotics applications, such as manipulation tasks, nonvisual information about the movement of the object is available, which we will…
Deformable image registration, estimating the spatial transformation between different images, is an important task in medical imaging. Many previous studies have used learning-based methods for multi-stage registration to perform 3D image…
Autonomous locomotion for mobile ground robots in unstructured environments such as waypoint navigation or flipper control requires a sufficiently accurate prediction of the robot-terrain interaction. Heuristics like occupancy grids or…
The last several years have seen significant progress in using depth cameras for tracking articulated objects such as human bodies, hands, and robotic manipulators. Most approaches focus on tracking skeletal parameters of a fixed shape…
Snake robots composed of alternating single-axis pitch and yaw joints have many internal degrees of freedom, which make them capable of versatile three-dimensional locomotion. In motion planning process, snake robot motions are often…
Continuum robots possess high flexibility and redundancy, making them well suited for safe interaction in complex environments, yet their continuous deformation and nonlinear dynamics pose fundamental challenges to perception, modeling, and…