Related papers: Accurate Pose Estimation Using Contact Manifold Sa…
High-precision assembly frequently involves tight-tolerance insertions, where even slight pose errors can cause jamming or excessive interaction forces, making robust and safe insertion policies difficult to obtain. This paper proposes a…
The $\mathrm{SE}(3)$ invariants of a pose include its rotation angle and screw translation. In this paper, we present a complete comprehensive study of the relative pose estimation problem for a calibrated camera constrained by known…
Contact can be conceptualized as a set of constraints imposed on two bodies that are interacting with one another in some way. The nature of a contact, whether a point, line, or surface, dictates how these bodies are able to move with…
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,…
The proposed system outlined in this paper is a solution to a use case that requires the autonomous picking of cuboidal objects from an organized or unorganized pile with high precision. This paper presents an efficient method for precise…
Accurate camera-to-robot calibration is essential for any vision-based robotic control system and especially critical in minimally invasive surgical robots, where instruments conduct precise micro-manipulations. However, MIS robots have…
Robust object pose estimation is essential for manipulation and interaction tasks in robotics, particularly in scenarios where visual data is limited or sensitive to lighting, occlusions, and appearances. Tactile sensors often offer limited…
This paper investigates robotic peg-in-hole assembly using the Elementary Dynamic Actions (EDA) framework, which models contact-rich tasks through a combination of submovements, oscillations, and mechanical impedance. Rather than focusing…
Conventional 3D human pose estimation relies on first detecting 2D body keypoints and then solving the 2D to 3D correspondence problem.Despite the promising results, this learning paradigm is highly dependent on the quality of the 2D…
In perioperative care, precise in-bed 3D patient pose and shape estimation (PSE) can be vital in optimizing patient positioning in preoperative planning, enabling accurate overlay of medical images for augmented reality-based surgical…
Object pose estimation is a crucial prerequisite for robots to perform autonomous manipulation in clutter. Real-world bin-picking settings such as warehouses present additional challenges, e.g., new objects are added constantly. Most of the…
In the context of future manufacturing lines, removing fixtures will be a fundamental step to increase the flexibility of autonomous systems in assembly and logistic operations. Vision-based 3D pose estimation is a necessity to accurately…
Estimating a soft robot's pose and applied forces, also called proprioception, is crucial for safe interaction of the robot with its environment. However, most solutions for soft robot proprioception use dedicated sensors, particularly for…
In manipulation tasks like plug insertion or assembly that have low tolerance to errors in pose estimation (errors of the order of 2mm can cause task failure), the utilization of touch/contact modality can aid in accurately localizing the…
Category-level pose estimation is a challenging task with many potential applications in computer vision and robotics. Recently, deep-learning-based approaches have made great progress, but are typically hindered by the need for large…
Human pose estimation (HPE) is one of the most challenging tasks in computer vision as humans are deformable by nature and thus their pose has so much variance. HPE aims to correctly identify the main joint locations of a single person or…
Understanding the geometry and pose of objects in 2D images is a fundamental necessity for a wide range of real world applications. Driven by deep neural networks, recent methods have brought significant improvements to object pose…
Recent advances in deep pose estimation models have proven to be effective in a wide range of applications such as health monitoring, sports, animations, and robotics. However, pose estimation models fail to generalize when facing images…
Prolonged seated activity is increasingly common in modern environments, raising concerns around musculoskeletal health, ergonomics, and the design of responsive interactive systems. Existing posture sensing methods such as vision-based or…
The choice of poses for camera calibration with planar patterns is only rarely considered - yet the calibration precision heavily depends on it. This work presents a pose selection method that finds a compact and robust set of calibration…