Related papers: High-Precision Transformer-Based Visual Servoing f…
Deep robot vision models are widely used for recognizing objects from camera images, but shows poor performance when detecting objects at untrained positions. Although such problem can be alleviated by training with large datasets, the…
Freehand 3D ultrasound (US) imaging using conventional 2D probes offers flexibility and accessibility for diverse clinical applications but faces challenges in accurate probe pose estimation. Traditional methods depend on costly tracking…
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…
Humanoid robots could be versatile and intuitive human avatars that operate remotely in inaccessible places: the robot could reproduce in the remote location the movements of an operator equipped with a wearable motion capture device while…
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…
We propose a fast and accurate method of 6D object pose estimation for bin-picking of mechanical parts by a robot manipulator. We extend the single-shot approach to stereo vision by application of attention architecture. Our convolutional…
Estimating the camera's pose given images from a single camera is a traditional task in mobile robots and autonomous vehicles. This problem is called monocular visual odometry and often relies on geometric approaches that require…
Object detection for robot guidance is a crucial mission for autonomous robots, which has provoked extensive attention for researchers. However, the changing view of robot movement and limited available data hinder the research in this…
We aim to build complex humanoid agents that integrate perception, motor control, and memory. In this work, we partly factor this problem into low-level motor control from proprioception and high-level coordination of the low-level skills…
In immersive humanoid robot teleoperation, there are three main shortcomings that can alter the transparency of the visual feedback: the lag between the motion of the operator's and robot's head due to network communication delays or slow…
With the mounting global interest for optical see-through head-mounted displays (OST-HMDs) across medical, industrial and entertainment settings, many systems with different capabilities are rapidly entering the market. Despite such…
This paper presents a framework for dynamic object catching using a quadruped robot's front legs while it stands on its rear legs. The system integrates computer vision, trajectory prediction, and leg control to enable the quadruped to…
In-hand object reorientation has been a challenging problem in robotics due to high dimensional actuation space and the frequent change in contact state between the fingers and the objects. We present a simple model-free framework that can…
Vision-based Transformer have shown huge application in the perception module of autonomous driving in terms of predicting accurate 3D bounding boxes, owing to their strong capability in modeling long-range dependencies between the visual…
We provide a method for detecting and localizing objects near a robot arm using arm-mounted miniature time-of-flight sensors. A key challenge when using arm-mounted sensors is differentiating between the robot itself and external objects in…
Sensory feedback is essential for the control of soft robotic systems and to enable deployment in a variety of different tasks. Proprioception refers to sensing the robot's own state and is of crucial importance in order to deploy soft…
Soft growing robots are proposed for use in applications such as complex manipulation tasks or navigation in disaster scenarios. Safe interaction and ease of production promote the usage of this technology, but soft robots can be…
The effectiveness of scaling up training data in robotic manipulation is still limited. A primary challenge in manipulation is the tasks are diverse, and the trained policy would be confused if the task targets are not specified clearly.…
We have developed a new method to estimate a Next Viewpoint (NV) which is effective for pose estimation of simple-shaped products for product display robots in retail stores. Pose estimation methods using Neural Networks (NN) based on an…
Model-based controllers using a linearized model around the system's equilibrium point is a common approach in the control of a wheeled humanoid due to their less computational load and ease of stability analysis. However, controlling a…