Related papers: PlaneHEC: Efficient Hand-Eye Calibration for Multi…
This paper investigates the direct application of standardized designs on the robot for conducting robot hand-eye calibration by employing 3D scanners with collaborative robots. The well-established geometric features of the robot flange…
Hand-eye calibration is the problem of solving the transformation from the end-effector of a robot to the sensor attached to it. Commonly employed techniques, such as AXXB or AXZB formulations, rely on regression methods that require…
We propose a certifiably globally optimal approach for solving the hand-eye robot-world problem supporting multiple sensors and targets at once. Further, we leverage this formulation for estimating a geo-referenced calibration of…
This work presents an RGB-D imaging-based approach to marker-free hand-eye calibration using a novel implementation of the iterative closest point (ICP) algorithm with a robust point-to-plane (PTP) objective formulated on a Lie algebra. Its…
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…
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…
Both, robot and hand-eye calibration haven been object to research for decades. While current approaches manage to precisely and robustly identify the parameters of a robot's kinematic model, they still rely on external devices, such as…
This article proposes a general optimization framework for solving hand-eye calibration problem. Unlike traditional methods, an iterative algorithm based on Lie algebra that achieves approximately global optimal solutions is developed.…
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,…
Hand-eye calibration, which consists in identifying the rigid- body transformation between a camera mounted on the robot end-effector and the end-effector itself, is a fundamental problem in robot vision. Mathematically, this problem can be…
Accurate multi-sensor calibration is essential for deploying robust perception systems in applications such as autonomous driving and intelligent transportation. Existing LiDAR-camera calibration methods often rely on manually placed…
In Robot-Assisted Minimally Invasive Surgery (RMIS), accurate tool localization is crucial to ensure patient safety and successful task execution. However, this remains challenging for cable-driven robots, such as the da Vinci robot,…
Camera calibration is a crucial step in robotics and computer vision. Accurate camera parameters are necessary to achieve robust applications. Nowadays, camera calibration process consists of adjusting a set of data to a pin-hole model,…
A common prerequisite for evaluating a visual(-inertial) odometry (VO/VIO) algorithm is to align the timestamps and the reference frame of its estimated trajectory with a reference ground-truth derived from a system of superior precision,…
This paper presents a groundbreaking approach - the first online automatic geometric calibration method for radar and camera systems. Given the significant data sparsity and measurement uncertainty in radar height data, achieving automatic…
In this work, we introduce the Virtual In-Hand Eye Transformer (VIHE), a novel method designed to enhance 3D manipulation capabilities through action-aware view rendering. VIHE autoregressively refines actions in multiple stages by…
In robotics, motion capture systems have been widely used to measure the accuracy of localization algorithms. Moreover, this infrastructure can also be used for other computer vision tasks, such as the evaluation of Visual (-Inertial) SLAM…
Multiple LiDARs have progressively emerged on autonomous vehicles for rendering a wide field of view and dense measurements. However, the lack of precise calibration negatively affects their potential applications in localization and…
Precision robotic manipulation tasks (insertion, screwing, precisely pick, precisely place) are required in many scenarios. Previous methods achieved good performance on such manipulation tasks. However, such methods typically require…
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…