Related papers: EasyHeC++: Fully Automatic Hand-Eye Calibration wi…
This work addresses the challenging problem of unconstrained 3D hand pose estimation using monocular RGB images. Most of the existing approaches assume some prior knowledge of hand (such as hand locations and side information) is available…
Traditional approaches to extrinsic calibration use fiducial markers and learning-based approaches rely heavily on simulation data. In this work, we present a learning-based markerless extrinsic calibration system that uses a depth camera…
Collaborative robots are becoming more common on factory floors as well as regular environments, however, their safety still is not a fully solved issue. Collision detection does not always perform as expected and collision avoidance is…
This work devises an optimized machine learning approach for human arm pose estimation from a single smartwatch. Our approach results in a distribution of possible wrist and elbow positions, which allows for a measure of uncertainty and the…
Recent methods to automatically calibrate stationary eye trackers were shown to effectively reduce inherent calibration distortion. However, these methods require additional information, such as mouse clicks or on-screen content. We propose…
Humans do not passively observe the visual world -- we actively look in order to act. Motivated by this principle, we introduce EyeRobot, a robotic system with gaze behavior that emerges from the need to complete real-world tasks. We…
In this study, we introduce a novel shared-control system for key-hole docking operations, combining a commercial camera with occlusion-robust pose estimation and a hand-eye information fusion technique. This system is used to enhance…
A self-contained calibration procedure that can be performed automatically without additional external sensors or tools is a significant advantage, especially for complex robotic systems. Here, we show that the kinematics of a…
Ophthalmic surgical robots offer superior stability and precision by reducing the natural hand tremors of human surgeons, enabling delicate operations in confined surgical spaces. Despite the advancements in developing vision- and…
Human-robot collaboration has gained a notable prominence in Industry 4.0, as the use of collaborative robots increases efficiency and productivity in the automation process. However, it is necessary to consider the use of mechanisms that…
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…
Learning from demonstrations has shown to be an effective approach to robotic manipulation, especially with the recently collected large-scale robot data with teleoperation systems. Building an efficient teleoperation system across diverse…
Recovering high-fidelity 3D hand geometry from images is a critical task in computer vision, holding significant value for domains such as robotics, animation and VR/AR. Crucially, scalable applications demand both accuracy and deployment…
Sensor setups of robotic platforms commonly include both camera and LiDAR as they provide complementary information. However, fusing these two modalities typically requires a highly accurate calibration between them. In this paper, we…
Calibration of multi-camera systems, i.e. determining the relative poses between the cameras, is a prerequisite for many tasks in computer vision and robotics. Camera calibration is typically achieved using offline methods that use…
The creation of unique control methods for a hand prosthesis is still a problem that has to be addressed. The best choice of a human-machine interface (HMI) that should be used to enable natural control is still a challenge. Surface…
Estimating 3D hand pose from single RGB images is a highly ambiguous problem that relies on an unbiased training dataset. In this paper, we analyze cross-dataset generalization when training on existing datasets. We find that approaches…
We tackle the problem of estimating the 3D pose of an individual's upper limbs (arms+hands) from a chest mounted depth-camera. Importantly, we consider pose estimation during everyday interactions with objects. Past work shows that strong…
Positioning patients for scanning and interventional procedures is a critical task that requires high precision and accuracy. The conventional workflow involves manually adjusting the patient support to align the center of the target body…
Vision based human pose estimation is an non-invasive technology for Human-Computer Interaction (HCI). Direct use of the hand as an input device provides an attractive interaction method, with no need for specialized sensing equipment, such…