相关论文: Optical Proximity Sensing for Pose Estimation Duri…

In the robot follow-ahead task, a mobile robot is tasked to maintain its relative position in front of a moving human actor while keeping the actor in sight. To accomplish this task, it is important that the robot understand the full 3D…

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…

We outline the role of forward and inverse modelling approaches in the design of human--computer interaction systems. Causal, forward models tend to be easier to specify and simulate, but HCI requires solutions of the inverse problem. We…

Human intention detection with hand motion prediction is critical to drive the upper-extremity assistive robots in neurorehabilitation applications. However, the traditional methods relying on physiological signal measurement are…

Traditional methods to achieve high localization accuracy with tactile sensors usually use a matrix of miniaturized individual sensors distributed on the area of interest. This approach usually comes at a price of increased complexity in…

Tactile sensing provides a promising sensing modality for object pose estimation in manipulation settings where visual information is limited due to occlusion or environmental effects. However, efficiently leveraging tactile data for…

3-D pose estimation of instruments is a crucial step towards automatic scene understanding in robotic minimally invasive surgery. Although robotic systems can potentially directly provide joint values, this information is not commonly…

Estimating the 3D pose of a hand is an essential part of human-computer interaction. Estimating 3D pose using depth or multi-view sensors has become easier with recent advances in computer vision, however, regressing pose from a single RGB…

Recognition of human poses and actions is crucial for autonomous systems to interact smoothly with people. However, cameras generally capture human poses in 2D as images and videos, which can have significant appearance variations across…

Tactile perception is central to robot manipulation in unstructured environments. However, it requires contact, and a mature implementation must infer object models while also accounting for the motion induced by the interaction. In this…

With the increase number of companies focusing on commercializing Augmented Reality (AR), Virtual Reality (VR) and wearable devices, the need for a hand based input mechanism is becoming essential in order to make the experience natural,…

Detection of slip during object grasping and manipulation plays a vital role in object handling. Existing solutions primarily rely on visual information to devise a strategy for grasping. However, for robotic systems to attain a level of…

In this paper, we propose a novel framework for tactile-based dexterous manipulation learning with a blind anthropomorphic robotic hand, i.e. without visual sensing. First, object-related states were extracted from the raw tactile signals…

Object pose estimation is a core perception task that enables, for example, object grasping and scene understanding. The widely available, inexpensive and high-resolution RGB sensors and CNNs that allow for fast inference based on this…

Precise perception of contact interactions is essential for fine-grained manipulation skills for robots. In this paper, we present the design of feedback skills for robots that must learn to stack complex-shaped objects on top of each other…

Tremendous amounts of expensive annotated data are a vital ingredient for state-of-the-art 3d hand pose estimation. Therefore, synthetic data has been popularized as annotations are automatically available. However, models trained only with…

When manipulating an object to accomplish complex tasks, humans rely on both vision and touch to keep track of the object's 6D pose. However, most existing object pose tracking systems in robotics rely exclusively on visual signals, which…

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…

Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object, and environment that must be considered for fine…

In order to meaningfully interact with the world, robot manipulators must be able to interpret objects they encounter. A critical aspect of this interpretation is pose estimation: inferring quantities that describe the position and…