Related papers: EasyHeC++: Fully Automatic Hand-Eye Calibration wi…
In Robot-Assisted Minimally Invasive Surgery (RMIS), accurate tool localization is crucial to ensure patient safety and successful task execution. However, this remains challenging for cable-driven robots, such as the da Vinci robot,…
While many recent hand pose estimation methods critically rely on a training set of labelled frames, the creation of such a dataset is a challenging task that has been overlooked so far. As a result, existing datasets are limited to a few…
Multiple LiDARs have progressively emerged on autonomous vehicles for rendering a wide field of view and dense measurements. However, the lack of precise calibration negatively affects their potential applications in localization and…
Hand pose estimation is a fundamental task in many human-robot interaction-related applications. However, previous approaches suffer from unsatisfying hand landmark predictions in real-world scenes and high computation burden. This paper…
Hand guidance emerged from the safety requirements for collaborative robots, namely possessing joint-torque sensors. Since then it has proven to be a powerful tool for easy trajectory programming, allowing lay-users to reprogram robots…
The hand-eye calibration problem is an important application problem in robot research. Based on the 2-norm of dual quaternion vectors, we propose a new dual quaternion optimization method for the hand-eye calibration problem. The dual…
Camera calibration is integral to robotics and computer vision algorithms that seek to infer geometric properties of the scene from visual input streams. In practice, calibration is a laborious procedure requiring specialized data…
Large-scale real-world robot data collection is a prerequisite for bringing robots into everyday deployment. However, existing pipelines often rely on specialized handheld devices to bridge the embodiment gap, which not only increases…
Markerless tracking of hands and fingers is a promising enabler for human-computer interaction. However, adoption has been limited because of tracking inaccuracies, incomplete coverage of motions, low framerate, complex camera setups, and…
In this work, we introduce the EyeSight Hand, a novel 7 degrees of freedom (DoF) humanoid hand featuring integrated vision-based tactile sensors tailored for enhanced whole-hand manipulation. Additionally, we introduce an actuation scheme…
Precise collaboration in vision-based dual-arm robot systems requires accurate system calibration. Recent dual-robot calibration methods have achieved strong performance by simultaneously solving multiple coordinate transformations.…
In this paper, we present a novel zero-shot camera calibration method that estimates camera parameters with no calibration image. It is common sense that we need at least one or more pattern images for camera calibration. However, the…
Manual assembly workers face increasing complexity in their work. Human-centered assistance systems could help, but object recognition as an enabling technology hinders sophisticated human-centered design of these systems. At the same time,…
Unlike traditional robotic hands, underactuated compliant hands are challenging to model due to inherent uncertainties. Consequently, pose estimation of a grasped object is usually performed based on visual perception. However, visual…
In robotics, motion capture systems have been widely used to measure the accuracy of localization algorithms. Moreover, this infrastructure can also be used for other computer vision tasks, such as the evaluation of Visual (-Inertial) SLAM…
Shared control improves Human-Robot Interaction by reducing the user's workload and increasing the robot's autonomy. It allows robots to perform tasks under the user's supervision. Current eye-tracking-driven approaches face several…
Estimating 3D interacting hand pose from a single RGB image is essential for understanding human actions. Unlike most previous works that directly predict the 3D poses of two interacting hands simultaneously, we propose to decompose the…
Whole-body geometric calibration of humanoid robots using classical robot calibration methods is a timeconsuming and experimentally burdensome task. However, despite its significance for accurate control and simulation, it is often…
Accurate multi-sensor calibration is essential for deploying robust perception systems in applications such as autonomous driving and intelligent transportation. Existing LiDAR-camera calibration methods often rely on manually placed…
Robot pose estimation is a challenging and crucial task for vision-based surgical robotic automation. Typical robotic calibration approaches, however, are not applicable to surgical robots, such as the da Vinci Research Kit (dVRK), due to…