Related papers: Bi-Manual Joint Camera Calibration and Scene Repre…
Representing the environment is a central challenge in robotics, and is essential for effective decision-making. Traditionally, before capturing images with a manipulator-mounted camera, users need to calibrate the camera using a specific…
Robots often rely on RGB images for tasks like manipulation and navigation. However, reliable interaction typically requires a 3D scene representation that is metric-scaled and aligned with the robot reference frame. This depends on…
With 3D sensing becoming cheaper, environment-aware and visually-guided robot arms capable of safely working in collaboration with humans will become common. However, a reliable calibration is needed, both for camera internal calibration,…
In industrial scenarios, effective human-robot collaboration relies on multi-camera systems to robustly monitor human operators despite the occlusions that typically show up in a robotic workcell. In this scenario, precise localization of…
Camera-to-robot (also known as eye-to-hand) calibration is a critical component of vision-based robot manipulation. Traditional marker-based methods often require human intervention for system setup. Furthermore, existing autonomous…
Geometric calibration of cameras and projectors is an essential step that must be performed before any imaging system can be used. There are many well-known geometric calibration methods for calibrating systems comprised of multiple…
The task of camera calibration is to estimate the intrinsic and extrinsic parameters of a camera model. Though there are some restricted techniques to infer the 3-D information about the scene from uncalibrated cameras, effective camera…
Camera calibration is a crucial step in photogrammetry and 3D vision applications. In practical scenarios with a long working distance to cover a wide area, target-based calibration methods become complicated and inflexible due to site…
Collaborative robotic industrial cells are workspaces where robots collaborate with human operators. In this context, safety is paramount, and for that a complete perception of the space where the collaborative robot is inserted is…
In this work, we present an effective multi-view approach to closed-loop end-to-end learning of precise manipulation tasks that are 3D in nature. Our method learns to accomplish these tasks using multiple statically placed but uncalibrated…
Calibration of multi-camera systems is a key task for accurate object tracking. However, it remains a challenging problem in real-world conditions, where traditional methods are not applicable due to the lack of accurate floor plans,…
This paper presents MEMROC (Multi-Eye to Mobile RObot Calibration), a novel motion-based calibration method that simplifies the process of accurately calibrating multiple cameras relative to a mobile robot's reference frame. MEMROC utilizes…
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.…
Camera-to-robot calibration is crucial for vision-based robot control and requires effort to make it accurate. Recent advancements in markerless pose estimation methods have eliminated the need for time-consuming physical setups for…
Robot-world, hand-eye calibration is the problem of determining the transformation between the robot end-effector and a camera, as well as the transformation between the robot base and the world coordinate system. This relationship has been…
Currently, there are no learning-free or neural techniques for real-time recalibration of infrared multi-camera systems. In this paper, we address the challenge of real-time, highly-accurate calibration of multi-camera infrared systems, a…
Camera calibration involves estimating camera parameters to infer geometric features from captured sequences, which is crucial for computer vision and robotics. However, conventional calibration is laborious and requires dedicated…
Precise calibration is the basis for the vision-guided robot system to achieve high-precision operations. Systems with multiple eyes (cameras) and multiple hands (robots) are particularly sensitive to calibration errors, such as…
Sensor-based environmental perception is a crucial step for autonomous driving systems, for which an accurate calibration between multiple sensors plays a critical role. For the calibration of LiDAR and camera, the existing method is…
We present a robot kinematic calibration method that combines complementary calibration approaches: self-contact, planar constraints, and self-observation. We analyze the estimation of the end effector parameters, joint offsets of the…