相关论文: Automatic Eye-in-Hand Calibration using EKF

As neuromorphic technology is maturing, its application to robotics and autonomous vehicle systems has become an area of active research. In particular, event cameras have emerged as a compelling alternative to frame-based cameras in…

Event cameras triggered a paradigm shift in the computer vision community delineated by their asynchronous nature, low latency, and high dynamic range. Calibration of event cameras is always essential to account for the sensor intrinsic…

With the dominance of keyframe-based SLAM in the field of robotics, the relative frame poses between keyframes have typically been sacrificed for a faster algorithm to achieve online applications. However, those approaches can become…

In order to improve the precision of multi-robot SLAM multi-view target tracking process, a improved multi-robot SLAM multi-view target tracking algorithm based on panoramic vision in irregular environment was put forward, adding an…

Attitude estimation is crucial in aerospace engineering, robotics, and virtual reality applications, but faces difficulties due to nonlinear system dynamics and sensor limitations. This paper addresses the challenge of attitude estimation…

The kinematics of many mechanical systems encountered in robotics and other fields, such as single-bearing attitude estimation and SLAM, are naturally posed on homogeneous spaces: That is, their state lies in a smooth manifold equipped with…

In the field of gas pipeline location, existing pipeline location methods mostly rely on pipeline location instruments. However, when faced with complex and curved pipeline scenarios, these methods often fail due to problems such as cable…

Visual Geometry Foundation Models (VGFMs) demonstrate remarkable zero-shot capabilities in local reconstruction. However, deploying them for kilometer-level Simultaneous Localization and Mapping (SLAM) remains challenging. In such…

Whenever a sensor is mounted on a robot hand it is important to know the relationship between the sensor and the hand. The problem of determining this relationship is referred to as hand-eye calibration, which is important in at least two…

With the increasing application of robots, stable and efficient Visual Odometry (VO) algorithms are becoming more and more important. Based on the Fourier Mellin Transformation (FMT) algorithm, the extended Fourier Mellin Transformation…

We investigate a scenario where a chaser spacecraft or satellite equipped with a monocular camera navigates in close proximity to a target spacecraft. The satellite's primary objective is to construct a representation of the operational…

Accurately estimating the position of a patient's side robotic arm in real time in a remote surgery task is a significant challenge, particularly in Tactile Internet (TI) environments. This paper presents a Kalman Filter (KF) based…

In this paper, we present an accelerometer-based kinematic calibration algorithm to accurately estimate the pose of multiple sensor units distributed along a robot body. Our approach is self-contained, can be used on any robot provided with…

Complementing images with inertial measurements has become one of the most popular approaches to achieve highly accurate and robust real-time camera pose tracking. In this paper, we present a keyframe-based approach to visual-inertial…

This paper presents a fault-tolerant 3D vision system for autonomous robotic operation. In particular, pose estimation of space objects is achieved using 3D vision data in an integrated Kalman filter (KF) and an Iterative Closest Point…

Robot navigation technology is required to accomplish difficult tasks in various environments. In navigation, it is necessary to know the information of the external environments and the state of the robot under the environment. On the…

This paper derives a contact-aided inertial navigation observer for a 3D bipedal robot using the theory of invariant observer design. Aided inertial navigation is fundamentally a nonlinear observer design problem; thus, current solutions…

A novel hand-eye calibration method for ground-observing mobile robots is proposed. While cameras on mobile robots are common, they are rarely used for ground-observing measurement tasks. Laser trackers are increasingly used in robotics for…

Compared to regular cameras, Dynamic Vision Sensors or Event Cameras can output compact visual data based on a change in the intensity in each pixel location asynchronously. In this paper, we study the application of current image-based…

Accurate localization is crucial for effectively operating mobile robots in indoor environments. This paper presents a comprehensive approach to mobile robot localization by integrating an ultrasound-based indoor positioning system (IPS)…