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Global positioning systems can provide sufficient positioning accuracy for large scale robotic tasks in open environments. However, in underwater environments, these systems cannot be directly used, and measuring the position of underwater…

This paper proposes a process that uses two cameras to obtain three-dimensional (3D) information of a target object for human tracking. Results of human detection and tracking from two cameras are integrated to obtain the 3D information.…

To determine the 3D orientation and 3D location of objects in the surroundings of a camera mounted on a robot or mobile device, we developed two powerful algorithms in object detection and temporal tracking that are combined seamlessly for…

This paper presents a framework for the targetless extrinsic calibration of stereo cameras and Light Detection and Ranging (LiDAR) sensors with a non-overlapping Field of View (FOV). In order to solve the extrinsic calibrations problem…

This paper introduces a novel proprioceptive state estimator for legged robots that combines model-based filters and deep neural networks. Recent studies have shown that neural networks such as multi-layer perceptron or recurrent neural…

In monocular 3D human pose estimation a common setup is to first detect 2D positions and then lift the detection into 3D coordinates. Many algorithms suffer from overfitting to camera positions in the training set. We propose a siamese…

In this paper, we propose a method to determine the 3D relative pose of pairs of communicating robots by using human pose-based key-points as correspondences. We adopt a 'leader-follower' framework, where at first, the leader robot visually…

In collaborative tasks where humans work alongside machines, the robot's movements and behaviour can have a significant impact on the operator's safety, health, and comfort. To address this issue, we present a multi-stereo camera system…

We can only allow human-robot-cooperation in a common work cell if the human integrity is guaranteed. A surveillance system with multiple cameras can detect collisions without contact to the human collaborator. A failure safe system needs…

Service robots that work alongside humans in a shared environment need a navigation system that takes into account not only physical safety but also social norms for mutual cooperation. In this paper, we introduce a motion planning system…

3D posture estimation is important in analyzing and improving ergonomics in physical human-robot interaction and reducing the risk of musculoskeletal disorders. Vision-based posture estimation approaches are prone to sensor and model…

Concurrently estimating the 6-DOF pose of multiple cameras or robots---cooperative localization---is a core problem in contemporary robotics. Current works focus on a set of mutually observable world landmarks and often require inbuilt…

We present an approach for estimating a mobile robot's pose w.r.t. the allocentric coordinates of a network of static cameras using multi-view RGB images. The images are processed online, locally on smart edge sensors by deep neural…

We present an approach for estimating the pose of an external camera with respect to a robot using a single RGB image of the robot. The image is processed by a deep neural network to detect 2D projections of keypoints (such as joints)…

Many robotics and mapping systems contain multiple sensors to perceive the environment. Extrinsic parameter calibration, the identification of the position and rotation transform between the frames of the different sensors, is critical to…

Mutual localization plays a crucial role in multi-robot cooperation. CREPES, a novel system that focuses on six degrees of freedom (DOF) relative pose estimation for multi-robot systems, is proposed in this paper. CREPES has a compact…

We present a novel solution to the camera pose estimation problem, where rotation and translation of a camera between two views are estimated from matched feature points in the images. The camera pose estimation problem is traditionally…

This paper proposes an algorithm for combined contact detection and state estimation for legged robots. The proposed algorithm models the robot's movement as a switched system, in which different modes relate to different feet being in…

Multi-camera systems have been shown to improve the accuracy and robustness of SLAM estimates, yet state-of-the-art SLAM systems predominantly support monocular or stereo setups. This paper presents a generic sparse visual SLAM framework…

Accurate state estimation is crucial for legged robot locomotion, as it provides the necessary information to allow control and navigation. However, it is also challenging, especially in scenarios with uneven and slippery terrain. This…