相关论文: Automatic Eye-in-Hand Calibration using EKF
In robotics, motion capture systems have been widely used to measure the accuracy of localization algorithms. Moreover, this infrastructure can also be used for other computer vision tasks, such as the evaluation of Visual (-Inertial) SLAM…
This work presents a centralized multi-IMU filter framework with online intrinsic and extrinsic calibration for unsynchronized inertial measurement units that is robust against changes in calibration parameters. The novel EKF-based method…
Simultaneous Localization And Mapping (SLAM) is a task to estimate the robot location and to reconstruct the environment based on observation from sensors such as LIght Detection And Ranging (LiDAR) and camera. It is widely used in robotic…
Visual Simultaneous Localisation and Mapping (VSLAM) is a key enabling technology for small embedded robotic systems such as aerial vehicles. Recent advances in equivariant filter and observer design offer the potential of a new generation…
The advancement of simulation-assisted robot programming, automation of high-tolerance assembly operations, and improvement of real-world performance engender a need for positionally accurate robots. Despite tight machining tolerances, good…
Hand-eye calibration is an important task in vision-guided robotic systems and is crucial for determining the transformation matrix between the camera coordinate system and the robot end-effector. Existing methods, for multi-view robotic…
In real-world applications the Perspective-n-Point (PnP) problem should generally be applied in a sequence of images which a set of drift-prone features are tracked over time. In this paper, we consider both the temporal dependency of…
Simultaneous Localization and Mapping (SLAM) presents a formidable challenge in robotics, involving the dynamic construction of a map while concurrently determining the precise location of the robotic agent within an unfamiliar environment.…
Autonomous surface vessels (ASVs) are increasingly vital for marine science, offering robust platforms for underwater mapping and inspection. Accurate state estimation, particularly of vehicle pose, is paramount for precise seafloor…
Forward and inverse kinematics models are fundamental to robot arms, serving as the basis for the robot arm's operational tasks. However, in model learning of robot arms, especially in the presence of redundant degrees of freedom, inverse…
Vision based localization is a popular approach to carry out manoeuvres particularly in GPS-restricted indoor environments, because vision can complement other activities performed by the robot. The objective is to estimate the current…
Finding the camera pose is an important step in many egocentric video applications. It has been widely reported that, state of the art SLAM algorithms fail on egocentric videos. In this paper, we propose a robust method for camera pose…
Estimating camera intrinsic parameters without prior scene knowledge is a fundamental challenge in computer vision. This capability is particularly important for applications such as autonomous driving and vehicle platooning, where…
This paper proposes a novel approach to improve the performance of the extended Kalman filter (EKF) for the problem of mobile robot localization. A fuzzy logic system is employed to continuous-ly adjust the noise covariance matrices of the…
Existing FEL facilities often suffer from stability issues: so electron orbit, transverse electron optics, electron bunch compression and other parameters have to be readjusted often to account for drifts in performance of various…
Accurate estimation of noise parameters is critical for optimal filter performance, especially in systems where true noise parameter values are unknown or time-varying. This article presents a quaternion left-invariant extended Kalman…
Visual-inertial systems rely on precise calibrations of both camera intrinsics and inter-sensor extrinsics, which typically require manually performing complex motions in front of a calibration target. In this work we present a novel…
Background: Multi-articulate prostheses are capable of performing dexterous hand movements. However, clinically available control strategies fail to provide users with intuitive, independent and proportional control over multiple degrees of…
In this paper, we present a user-friendly LiDAR-camera calibration toolkit that is compatible with various LiDAR and camera sensors and requires only a single pair of laser points and a camera image in targetless environments. Our approach…
We derive symmetry preserving invariant extended Kalman filters (IEKF) on matrix Lie groups. These Kalman filters have an advantage over conventional extended Kalman filters as the error dynamics for such filters are independent of the…