Related papers: Markerless 6D Pose Estimation and Position-Based V…

Existing marker-less motion capture methods often assume known backgrounds, static cameras, and sequence specific motion priors, which narrows its application scenarios. Here we propose a fully automatic method that given multi-view video,…

In percutaneous orthopedic interventions the surgeon attempts to reduce and fixate fractures in bony structures. The complexity of these interventions arises when the surgeon performs the challenging task of navigating surgical tools…

When developing control laws for robotic systems, the principle factor when examining their performance is choosing inputs that allow smooth tracking to a reference input. In the context of robotic manipulation, this involves translating an…

With the advent of consumer grade depth sensors, low-cost volumetric capture systems are easier to deploy. Their wider adoption though depends on their usability and by extension on the practicality of spatially aligning multiple sensors.…

We introduce CenDerNet, a framework for 6D pose estimation from multi-view images based on center and curvature representations. Finding precise poses for reflective, textureless objects is a key challenge for industrial robotics. Our…

Robotic manipulation in everyday scenarios, especially in unstructured environments, requires skills in pose-aware object manipulation (POM), which adapts robots' grasping and handling according to an object's 6D pose. Recognizing an…

The objective of this work is to enable manipulation tasks with respect to the 6D pose of a dynamically moving object using a camera mounted on a robot. Examples include maintaining a constant relative 6D pose of the robot arm with respect…

In this paper, a computation efficient regression framework is presented for estimating the 6D pose of rigid objects from a single RGB-D image, which is applicable to handling symmetric objects. This framework is designed in a simple…

Estimation of 3D human pose from monocular image has gained considerable attention, as a key step to several human-centric applications. However, generalizability of human pose estimation models developed using supervision on large-scale…

This paper presents an end-to-end radar odometry system which delivers robust, real-time pose estimates based on a learned embedding space free of sensing artefacts and distractor objects. The system deploys a fully differentiable,…

Conventional computer-assisted orthopaedic navigation systems rely on the tracking of dedicated optical markers for patient poses, which makes the surgical workflow more invasive, tedious, and expensive. Visual tracking has recently been…

Head pose estimation and tracking is useful in variety of medical applications. With the advent of RGBD cameras like Kinect, it has become feasible to do markerless tracking by estimating the head pose directly from the point clouds. One…

With the high focus on autonomous aerial refueling recently, it becomes increasingly urgent to design efficient methods or algorithms to solve AAR problems in complicated aerial environments. Apart from the complex aerodynamic disturbance,…

Monocular 6-DoF pose estimation plays an important role in multiple spacecraft missions. Most existing pose estimation approaches rely on single images with static keypoint localisation, failing to exploit valuable temporal information…

Laparoscopic surgery constrains instrument motion around a fixed pivot point at the incision into a patient to minimize tissue trauma. Surgical robots achieve this through either hardware to software-based remote center of motion (RCM)…

Vision-based robotic assembly is a crucial yet challenging task as the interaction with multiple objects requires high levels of precision. In this paper, we propose an integrated 6D robotic system to perceive, grasp, manipulate and…

Keypoint detection is an essential building block for many robotic applications like motion capture and pose estimation. Historically, keypoints are detected using uniquely engineered markers such as checkerboards or fiducials. More…

Estimating the 6D pose of objects using only RGB images remains challenging because of problems such as occlusion and symmetries. It is also difficult to construct 3D models with precise texture without expert knowledge or specialized…

Traditional visual servoing methods suffer from serving between scenes from multiple perspectives, which humans can complete with visual signals alone. In this paper, we investigated how multi-perspective visual servoing could be solved…

Accurately recovering 6D poses in densely packed industrial bin-picking environments remain a serious challenge, owing to occlusions, reflections, and textureless parts. We introduce a holistic depth-only 6D pose estimation approach that…