相关论文: Real-time 3D Tracking of Articulated Tools for Rob…
Reinforcement learning (RL) and sim-to-real transfer have advanced rigid-object manipulation. However, policies remain brittle for articulated mechanisms due to contact-rich dynamics that require both stable grasping and simultaneous free…
This paper introduces an approach for multi-human 3D pose estimation and tracking based on calibrated multi-view. The main challenge lies in finding the cross-view and temporal correspondences correctly even when several human pose…
Robots operating in real-world environments frequently encounter unknown objects with complex structures and articulated components, such as doors, drawers, cabinets, and tools. The ability to perceive, track, and manipulate these objects…
The demands on robotic manipulation skills to perform challenging tasks have drastically increased in recent times. To perform these tasks with dexterity, robots require perception tools to understand the scene and extract useful…
Semantic tool segmentation in surgical videos is important for surgical scene understanding and computer-assisted interventions as well as for the development of robotic automation. The problem is challenging because different illumination…
In order to manipulate a deformable object, such as rope or cloth, in unstructured environments, robots need a way to estimate its current shape. However, tracking the shape of a deformable object can be challenging because of the object's…
We present a novel solution to the problem of 3D tracking of the articulated motion of human hand(s), possibly in interaction with other objects. The vast majority of contemporary relevant work capitalizes on depth information provided by…
Five billion people in the world lack access to quality surgical care. Surgeon skill varies dramatically, and many surgical patients suffer complications and avoidable harm. Improving surgical training and feedback would help to reduce the…
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.…
Tactile sensing is crucial for robots aiming to achieve human-level dexterity. Among tactile-dependent skills, tactile-based object tracking serves as the cornerstone for many tasks, including manipulation, in-hand manipulation, and 3D…
Robot table tennis systems require a vision system that can track the ball position with low latency and high sampling rate. Altering the ball to simplify the tracking using for instance infrared coating changes the physics of the ball…
On construction sites, progress must be monitored continuously to ensure that the current state corresponds to the planned state in order to increase efficiency, safety and detect construction defects at an early stage. Autonomous mobile…
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…
Our work aims to reconstruct hand-held objects given a single RGB image. In contrast to prior works that typically assume known 3D templates and reduce the problem to 3D pose estimation, our work reconstructs generic hand-held object…
Recent advances in augmented reality (AR) have enabled interactive systems that assist users in physical assembly tasks. In this paper, we present an AR-assisted assembly workflow that leverages object recognition and hand tracking to (1)…
Robotic dexterous in-hand manipulation, where multiple fingers dynamically make and break contact, represents a step toward human-like dexterity in real-world robotic applications. Unlike learning-based approaches that rely on large-scale…
With the growing popularity of robotic surgery, education becomes increasingly important and urgently needed for the sake of patient safety. However, experienced surgeons have limited accessibility due to their busy clinical schedule or…
Robot pose estimation is a challenging and crucial task for vision-based surgical robotic automation. Typical robotic calibration approaches, however, are not applicable to surgical robots, such as the da Vinci Research Kit (dVRK), due to…
Autonomy in robotic surgery is very challenging in unstructured environments, especially when interacting with deformable soft tissues. The main difficulty is to generate model-based control methods that account for deformation dynamics…
Contactless hand pose estimation requires sensors that provide precise spatial information and low computational complexity for real-time processing. Unlike vision-based systems, radar offers lighting independence and direct motion…