相关论文: External Camera-based Mobile Robot Pose Estimation…

In the context of future manufacturing lines, removing fixtures will be a fundamental step to increase the flexibility of autonomous systems in assembly and logistic operations. Vision-based 3D pose estimation is a necessity to accurately…

Monocular 3D pose estimators produce camera-centered skeletons, creating view-dependent kinematic signals that complicate comparative analysis in applications such as health and sports science. We present 3DPCNet, a compact,…

Accurate estimation of the environment structure simultaneously with the robot pose is a key capability of autonomous robotic vehicles. Classical simultaneous localization and mapping (SLAM) algorithms rely on the static world assumption to…

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…

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…

A technique for object localization based on pose estimation and camera calibration is presented. The 3-dimensional (3D) coordinates are estimated by collecting multiple 2-dimensional (2D) images of the object and are utilized for the…

In this paper, we propose an object-based camera pose estimation from a single RGB image and a pre-built map of objects, represented with ellipsoidal models. We show that contrary to point correspondences, the definition of a cost function…

We propose a novel method to reliably estimate the pose of a camera given a sequence of images acquired in extreme environments such as deep seas or extraterrestrial terrains. Data acquired under these challenging conditions are corrupted…

2D Key-point estimation is an important precursor to 3D pose estimation problems for human body and hands. In this work, we discuss the data, architecture, and training procedure necessary to deploy extremely efficient 2.5D hand pose…

In this paper, we address the problem of estimating the in-hand 6D pose of an object in contact with multiple vision-based tactile sensors. We reason on the possible spatial configurations of the sensors along the object surface.…

In order to advance underwater computer vision and robotics from lab environments and clear water scenarios to the deep dark ocean or murky coastal waters, representative benchmarks and realistic datasets with ground truth information are…

This paper describes a novel approach in human robot interaction driven by ergonomics. With a clear focus on optimising ergonomics, the approach proposed here continuously observes a human user's posture and by invoking appropriate…

We consider the task of re-calibrating the 3D pose of a static surveillance camera, whose pose may change due to external forces, such as birds, wind, falling objects or earthquakes. Conventionally, camera pose estimation can be solved with…

Mobile robots are reaching unprecedented speeds, with platforms like Unitree B2, and Fraunhofer O3dyn achieving maximum speeds between 5 and 10 m/s. However, effectively utilizing such speeds remains a challenge due to the limitations of…

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…

6D object pose estimation has been a research topic in the field of computer vision and robotics. Many modern world applications like robot grasping, manipulation, autonomous navigation etc, require the correct pose of objects present in a…

Although significant improvement has been achieved recently in 3D human pose estimation, most of the previous methods only treat a single-person case. In this work, we firstly propose a fully learning-based, camera distance-aware top-down…

Range-only (RO) localization involves determining the position of a mobile robot by measuring the distance to specific anchors. RO localization is challenging since the measurements are low-dimensional and a single range sensor does not…

Egocentric 3D human pose estimation using a single fisheye camera has become popular recently as it allows capturing a wide range of daily activities in unconstrained environments, which is difficult for traditional outside-in motion…

The fusion of sensor data from heterogeneous sensors is crucial for robust perception in various robotics applications that involve moving platforms, for instance, autonomous vehicle navigation. In particular, combining camera and lidar…