Related papers: Geometric Robot Calibration Using a Calibration Pl…
Continuum robots with floating bases demonstrate exceptional operational capabilities in confined spaces, such as those encountered in medical surgeries and equipment maintenance. However, developing low-cost solutions for their motion and…
In this paper, we present an accelerometer-based kinematic calibration algorithm to accurately estimate the pose of multiple sensor units distributed along a robot body. Our approach is self-contained, can be used on any robot provided with…
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…
The ability to automatically encircle boundaries with mobile robots is crucial for tasks such as border tracking and object enclosing. Previous research has primarily focused on regular boundaries, often assuming that their geometric…
We implement and evaluate different methods for the reconfiguration of a connected arrangement of tiles into a desired target shape, using a single active robot that can move along the tile structure. This robot can pick up, carry, or drop…
We propose a method to achieve the geometric calibration of cone-beam imaging and delivery systems in radiation therapy; our approach applies to devices where an X-ray source and a flat-panel detector, facing each other, move in circular…
In this paper we develop a new approach to the calibration of polarimetric radar data based on two key ideas. The first is the use of in-scene trihedral corner reflectors not only for radiometric and geometric calibration but also to…
Whenever a sensor is mounted on a robot hand it is important to know the relationship between the sensor and the hand. The problem of determining this relationship is referred to as hand-eye calibration, which is important in at least two…
Relative localization between autonomous robots without infrastructure is crucial to achieve their navigation, path planning, and formation in many applications, such as emergency response, where acquiring a prior knowledge of the…
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…
In modern robotic applications, tactile sensor arrays (i.e., artificial skins) are an emergent solution to determine the locations of contacts between a robot and an external agent. Localizing the point of contact is useful but determining…
Accurate inertial parameter identification is crucial for the simulation and control of robots encountering intermittent contact with the environment. Classically, robots' inertial parameters are obtained from CAD models that are not…
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…
This paper evaluates the current gaze estimation methods within an HRI context of a shared workspace scenario. We introduce a new, annotated dataset collected with the NICO robotic platform. We evaluate four state-of-the-art gaze estimation…
This paper presents an algorithm to geometrically characterize inertial parameter identifiability for an articulated robot. The geometric approach tests identifiability across the infinite space of configurations using only a finite set of…
Accurately calibrating light field camera is essential to its applications. Rapid progress has been made in this area in the past decades. In this paper, detailed analysis was first performed towards the state of the art projection models…
Robots often use feature-based image tracking to identify their position in their surrounding environment; however, feature-based image tracking is prone to errors in low-textured and poorly lit environments. Specifically, we investigate a…
Low-resolution spectroscopy is a frequently used technique. Aperture prism spectroscopy in particular is an important tool for large-scale survey observations. The ongoing ESA space mission Gaia is the currently most relevant example. In…
Vision-guided robotic systems are increasingly deployed in precision alignment tasks that require reliable execution under near-field and off-axis configurations. While recent advances in pose estimation have significantly improved…
Industrial robot arms are extensively important for intelligent manufacturing. An industrial robot arm commonly enjoys its high repetitive positioning accuracy while suffering from its low absolute positioning accuracy, which greatly…