Related papers: Relative Pose Observability Analysis Using Dual Qu…
The design of a globally convergent position observer for feature points from visual information is a challenging problem, especially for the case with only inertial measurements and without assumptions of uniform observability, which…
In this paper, we introduce a novel RGB-D based relative pose estimation approach that is suitable for small-overlapping or non-overlapping scans and can output multiple relative poses. Our method performs scene completion and matches the…
Fiducial markers have been playing an important role in augmented reality (AR), robot navigation, and general applications where the relative pose between a camera and an object is required. Here we introduce TopoTag, a robust and scalable…
Visual odometry is a widely used technique in the field of robotics and automation to keep a track on the location of a robot using visual cues alone. In this paper, we propose a joint forward backward visual odometry framework by combining…
Collaborative robots offer increased interaction capabilities at relatively low cost but in contrast to their industrial counterparts they inevitably lack precision. Moreover, in addition to the robots' own imperfect models, day-to-day…
We show here that quadruple lenses can be useful laboratories to probe whether the potential of the lensing galaxy is purely elliptical or whether an additional distortion is present in the deflector plane. For this test we only have to…
Projecting high-dimensional environment observations into lower-dimensional structured representations can considerably improve data-efficiency for reinforcement learning in domains with limited data such as robotics. Can a single generally…
Squared planar markers are a popular tool for fast, accurate and robust camera localization, but its use is frequently limited to a single marker, or at most, to a small set of them for which their relative pose is known beforehand. Mapping…
A novel hand-eye calibration method for ground-observing mobile robots is proposed. While cameras on mobile robots are common, they are rarely used for ground-observing measurement tasks. Laser trackers are increasingly used in robotics for…
This paper presents a novel Luenberger-style observer for robot manipulators with position measurements. Under the assumption that the state evolutions that are to be observed have bounded velocities, it is shown that the origin of the…
We extend some results of group representation theory and von Neumann algebras to the quaternionic Hilbert space case, proving the double commutant theorem (whose quaternionic proof requires a different procedure) and extend to the…
The quadratic rank two Jacobi algebra is identified from the relations obeyed by the bispectral operators of the two variable Jacobi polynomials orthogonal on the triangle. It is seen to admit as subalgebras Racah and Jacobi algebras of…
A modified Gibbs's rotation matrix is derived and the connection with the Euler angles, quaternions, and Cayley$-$Klein parameters is established. As particular cases, the Rodrigues and Gibbs parameterizations of the rotation are obtained.…
The proposed system outlined in this paper is a solution to a use case that requires the autonomous picking of cuboidal objects from an organized or unorganized pile with high precision. This paper presents an efficient method for precise…
Urgently needed generalizable robot object interaction and manipulation requires high-quality Cross-Category object perception. As a pioneer of this area, Generalizable and Actionable Parts (GAParts) understanding has attracted increasing…
Accurate 3D pose estimation of grasped objects is an important prerequisite for robots to perform assembly or in-hand manipulation tasks, but object occlusion by the robot's own hand greatly increases the difficulty of this perceptual task.…
Accurate object pose estimation using multi-modal perception such as visual and tactile sensing have been used for autonomous robotic manipulators in literature. Due to variation in density of visual and tactile data, a novel probabilistic…
This work proposes a detectability condition for linear time-varying systems based on the exponential dichotomy spectrum. The condition guarantees the existence of an observer, whose gain is determined only by the unstable modes of the…
We present a novel method to infer, in closed-form, a general 3D spatial occupancy and orientation of a collection of rigid objects given 2D image detections from a sequence of images. In particular, starting from 2D ellipses fitted to…
In this paper we investigate the coupling properties of pairs of quadrature observables, showing that, apart from the Weyl relation, they share the same coupling properties as the position-momentum pair. In particular, they are…