Related papers: From swept contact to pose: Probe-aware registrati…
Stereo optical measurement techniques, such as digital image correlation (DIC), are widely used in 3D deformation measurement as non-contact, full-field measurement methods, in which stereo calibration is a crucial step. However, current…
We propose PHASER, a correspondence-free global registration of sensor-centric pointclouds that is robust to noise, sparsity, and partial overlaps. Our method can seamlessly handle multimodal information and does not rely on keypoint nor…
Augmented reality (AR) guidance in laparoscopic liver surgery requires accurate registration of preoperative 3D models to intraoperative 2D video, but remains challenging due to partial visibility, specularities, and tissue deformation.…
Sensor setups of robotic platforms commonly include both camera and LiDAR as they provide complementary information. However, fusing these two modalities typically requires a highly accurate calibration between them. In this paper, we…
State-of-the-art object pose estimation methods are prone to generating geometrically infeasible pose hypotheses. This problem is prevalent in dexterous manipulation, where estimated poses often intersect with the robotic hand or are not…
Grasping in cluttered scenes has always been a great challenge for robots, due to the requirement of the ability to well understand the scene and object information. Previous works usually assume that the geometry information of the objects…
Camera calibration is a crucial step in photogrammetry and 3D vision applications. In practical scenarios with a long working distance to cover a wide area, target-based calibration methods become complicated and inflexible due to site…
We study the challenging problem of estimating the relative pose of three calibrated cameras from four point correspondences. We propose novel efficient solutions to this problem that are based on the simple idea of using four…
We propose real-time, six degrees of freedom (6DoF), 3D face pose estimation without face detection or landmark localization. We observe that estimating the 6DoF rigid transformation of a face is a simpler problem than facial landmark…
The goal of image registration is to establish spatial correspondence between two or more images, traditionally through dense displacement fields (DDFs) or parametric transformations (e.g., rigid, affine, and splines). Rethinking the…
The creation of precise and high-resolution crop point clouds in agricultural fields has become a key challenge for high-throughput phenotyping applications. This work implements a novel calibration method to calibrate the laser scanning…
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,…
Many algorithms for surface registration risk producing significant errors if surfaces are significantly nonisometric. Manifold learning has been shown to be effective at improving registration quality, using information from an entire…
State-of-the-art research of traditional computer vision is increasingly leveraged in the surgical domain. A particular focus in computer-assisted surgery is to replace marker-based tracking systems for instrument localization with pure…
Pursuing natural and marker-less human-robot interaction (HRI) has been a long-standing robotics research focus, driven by the vision of seamless collaboration without physical markers. Marker-less approaches promise an improved user…
Image registration is useful for quantifying morphological changes in longitudinal MR images from prostate cancer patients. This paper describes a development in improving the learning-based registration algorithms, for this challenging…
This paper presents a framework for rigid point-set registration and merging using a robust continuous data representation. Our point-set representation is constructed by training a one-class support vector machine with a Gaussian radial…
Digital fringe projection (DFP) enables micrometer-level 3D reconstruction, yet extending it to large-scale mapping remains challenging because six-degree-of-freedom pose estimation often cannot match the reconstruction's precision.…
We address the correspondence-free alignment of two rotation sets on \(SO(3)\), a core task in calibration and registration that is often impeded by missing time alignment, outliers, and unknown axis conventions. Our key idea is to…
A self-contained calibration procedure that can be performed automatically without additional external sensors or tools is a significant advantage, especially for complex robotic systems. Here, we show that the kinematics of a…