Related papers: Bi-Manual Joint Camera Calibration and Scene Repre…
Fish-eye cameras are becoming increasingly popular in computer vision, but their use for 3D measurement is limited partly due to the lack of an accurate, efficient and user-friendly calibration procedure. For such a purpose, we propose a…
Robotic eye-in-hand calibration is the task of determining the rigid 6-DoF pose of the camera with respect to the robot end-effector frame. In this paper, we formulate this task as a non-linear optimization problem and introduce an active…
Most approaches to camera calibration rely on calibration targets of well-known geometry. During data acquisition, calibration target and camera system are typically moved w.r.t. each other, to allow image coverage and perspective…
In a multi-sensor fusion system composed of cameras and LiDAR, precise extrinsic calibration contributes to the system's long-term stability and accurate perception of the environment. However, methods based on extracting and registering…
Two regimes permitting safe physical human-robot interaction, speed and separation monitoring and safety-rated monitored stop, depend on reliable perception of the space surrounding the robot. This can be accomplished by visual sensors…
In the past decades, a variety of haptic devices have been developed to facilitate high-fidelity human-computer interaction (HCI) in virtual reality (VR). In particular, passive haptic feedback can create a compelling sensation based on…
Recently, industrial robots plays a significant role in intelligent manufacturing. Hence, it is an urgent issue to ensure the robot with the high positioning precision. To address this hot issue, a novel calibration method based on an…
Despite the potential benefits of collaborative robots, effective manipulation tasks with quadruped robots remain difficult to realize. In this paper, we propose a hierarchical control system that can handle real-world collaborative…
Aligning humans' assessment of what a robot can do with its true capability is crucial for establishing a common ground between human and robot partners when they collaborate on a joint task. In this work, we propose an approach to…
Hand-eye calibration plays a fundamental role in robotics by directly influencing the efficiency of critical operations such as manipulation and grasping. In this work, we present a novel framework, EasyHeC++, designed for fully automatic…
The generalization ability of imitation learning policies for robotic manipulation is fundamentally constrained by the diversity of expert demonstrations, while collecting demonstrations across varied environments is costly and difficult in…
Recent progress in mixed reality (MR) and robotics is enabling increasingly sophisticated forms of human-robot collaboration. Building on these developments, we introduce a novel MR framework that allows multiple quadruped robots to operate…
Accurate LiDAR-camera extrinsic calibration is a precondition for many multi-sensor systems in mobile robots. Most calibration methods rely on laborious manual operations and calibration targets. While working online, the calibration…
In this paper, we discuss an imitation learning based method for reducing the calibration error for a mixed reality system consisting of a vision sensor and a projector. Unlike a head mounted display, in this setup, augmented information is…
Robots and other smart devices need efficient object-based scene representations from their on-board vision systems to reason about contact, physics and occlusion. Recognized precise object models will play an important role alongside…
Hand-eye calibration of laser profile sensors is the process of extracting the homogeneous transformation between the laser profile sensor frame and the end-effector frame of a robot in order to express the data extracted by the sensor in…
Robotic manipulation in dynamic environments often requires seamless transitions between different grasp types to maintain stability and efficiency. However, achieving smooth and adaptive grasp transitions remains a challenge, particularly…
With the development of autonomous driving technology, sensor calibration has become a key technology to achieve accurate perception fusion and localization. Accurate calibration of the sensors ensures that each sensor can function properly…
Calibration of sensors is a fundamental step to validate their operation. This can be a demanding task, as it relies on acquiring a detailed modelling of the device, aggravated by its possible dependence upon multiple parameters. Machine…
Solving the camera-to-robot pose is a fundamental requirement for vision-based robot control, and is a process that takes considerable effort and cares to make accurate. Traditional approaches require modification of the robot via markers,…