Related papers: Observability-Aware Active Calibration of Multi-Se…
LiDAR-camera calibration is a precondition for many heterogeneous systems that fuse data from LiDAR and camera. However, the constraint from common field of view and the requirement for strict time synchronization make the calibration a…
The advancement of simulation-assisted robot programming, automation of high-tolerance assembly operations, and improvement of real-world performance engender a need for positionally accurate robots. Despite tight machining tolerances, good…
Accurate full-body motion prediction is essential for the safe, autonomous navigation of legged robots, enabling critical capabilities like limb-level collision checking in cluttered environments. Simplified kinematic models often fail to…
It's a practical approach using the ground-aerial collaborative system to enhance the localization robustness of flying robots in cluttered environments, especially when visual sensors degrade. Conventional approaches estimate the flying…
Sensor fusion is vital for the safe and robust operation of autonomous vehicles. Accurate extrinsic sensor to sensor calibration is necessary to accurately fuse multiple sensor's data in a common spatial reference frame. In this paper, we…
Localization of autonomous mobile robots (AMRs) in enclosed or semi-enclosed environments such as offices, hotels, hospitals, indoor parking facilities, and underground spaces where GPS signals are weak or unavailable remains a major…
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.…
Correct radar data fusion depends on knowledge of the spatial transform between sensor pairs. Current methods for determining this transform operate by aligning identifiable features in different radar scans, or by relying on measurements…
In this paper we perform an experimental comparison of three different target based 3D-LIDAR camera calibration algorithms. We briefly elucidate the mathematical background behind each method and provide insights into practical aspects like…
Most intelligent transportation systems use a combination of radar sensors and cameras for robust vehicle perception. The calibration of these heterogeneous sensor types in an automatic fashion during system operation is challenging due to…
Calibrating the extrinsic parameters of sensory devices is crucial for fusing multi-modal data. Recently, event cameras have emerged as a promising type of neuromorphic sensors, with many potential applications in fields such as mobile…
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…
Fusion of heterogeneous extroceptive sensors is the most effient and effective way to representing the environment precisely, as it overcomes various defects of each homogeneous sensor. The rigid transformation (aka. extrinsic parameters)…
Trajectory optimization with contact-rich behaviors has recently gained attention for generating diverse locomotion behaviors without pre-specified ground contact sequences. However, these approaches rely on precise models of robot dynamics…
Credible microscopic traffic simulation requires car-following models that capture both the average response and the substantial variability observed across drivers and situations. However, most data-driven calibrations remain…
Autonomous multi-robot optical inspection systems are increasingly applied for obtaining inline measurements in process monitoring and quality control. Numerous methods for path planning and robotic coordination have been developed for…
Owing to the capability for reliable and all-weather long-range sensing, the fusion of LiDAR and Radar has been widely applied to autonomous vehicles for robust perception. In practical operation, well manually calibrated extrinsic…
Legged robots are becoming popular not only in research, but also in industry, where they can demonstrate their superiority over wheeled machines in a variety of applications. Either when acting as mobile manipulators or just as all-terrain…
The integration of collaborative robots into industrial environments has improved productivity, but has also highlighted significant challenges related to operator safety and ergonomics. This paper proposes an innovative framework that…
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…