Related papers: Bi-Manual Joint Camera Calibration and Scene Repre…
Hand-eye calibration is a critical task in robotics, as it directly affects the efficacy of critical operations such as manipulation and grasping. Traditional methods for achieving this objective necessitate the careful design of joint…
In this paper, we propose a novel method for joint recovery of camera pose, object geometry and spatially-varying Bidirectional Reflectance Distribution Function (svBRDF) of 3D scenes that exceed object-scale and hence cannot be captured…
Industrial robots are increasingly used in various applications where the robot accuracy becomes very important, hence calibrations of the robot's kinematic parameters and the measurement system's extrinsic parameters are required. However,…
Localizing an object accurately with respect to a robot is a key step for autonomous robotic manipulation. In this work, we propose to tackle this task knowing only 3D models of the robot and object in the particular case where the scene is…
This paper addresses two intertwined needs for collaborative robots operating in shop-floor environments. The first is the ability to perform complex manipulation operations, such as those on articulated or even flexible objects, in a way…
Most object manipulation strategies for robots are based on the assumption that the object is rigid (i.e., with fixed geometry) and the goal's details have been fully specified (e.g., the exact target pose). However, there are many tasks…
Humans show specialized strategies for efficient collaboration. Transferring similar strategies to humanoid robots can improve their capability to interact with other agents, leading the way to complex collaborative scenarios with multiple…
Camera calibration is a fundamental prerequisite for reliable geometric perception, yet classical approaches rely on controlled acquisition setups that are impractical for in-the-wild imagery. Recent learning-based methods have shown…
When collaborating relative to a shared 3D virtual object in mixed reality (MR), users may experience communication issues arising from differences in perspective. These issues include occlusion (e.g., one user not being able to see what…
Safe multi-agent motion planning (MAMP) under task-induced constraints is a critical challenge in robotics. Many real-world scenarios require robots to navigate dynamic environments while adhering to manifold constraints imposed by tasks.…
The need to relate measurements made by a camera to a different known coordinate system arises in many engineering applications. Historically, it appeared for the first time in the connection with cameras mounted on robotic systems. This…
Robots that can operate autonomously in a human living environment are necessary to have the ability to handle various tasks flexibly. One crucial element is coordinated bimanual movements that enable functions that are difficult to perform…
In many fields of robotics, knowing the relative position and orientation between two sensors is a mandatory precondition to operate with multiple sensing modalities. In this context, the pair LiDAR-RGB cameras offer complementary features:…
Calibration is an essential prerequisite for the accurate data fusion of LiDAR and camera sensors. Traditional calibration techniques often require specific targets or suitable scenes to obtain reliable 2D-3D correspondences. To tackle the…
Visual imitation learning has achieved impressive progress in learning unimanual manipulation tasks from a small set of visual observations, thanks to the latest advances in computer vision. However, learning bimanual coordination…
For building a Augmented Reality (AR) pipeline, the most crucial step is the camera calibration as overall quality heavily depends on it. In turn camera calibration itself is influenced most by the choice of camera-to-pattern poses - yet…
The most prevalent routine for camera calibration is based on the detection of well-defined feature points on a purpose-made calibration artifact. These could be checkerboard saddle points, circles, rings or triangles, often printed on a…
We propose an algorithm for automatic, targetless, extrinsic calibration of a LiDAR and camera system using semantic information. We achieve this goal by maximizing mutual information (MI) of semantic information between sensors, leveraging…
Hand-eye calibration is a common problem in the field of collaborative robotics, involving the determination of the transformation matrix between the visual sensor and the robot flange to enable vision-based robotic tasks. However, this…
The fusion of multi-modal sensors has become increasingly popular in autonomous driving and intelligent robots since it can provide richer information than any single sensor, enhance reliability in complex environments. Multi-sensor…