相关论文: A Graph-based Optimization Framework for Hand-Eye …
Visual re-localization means using a single image as input to estimate the camera's location and orientation relative to a pre-recorded environment. The highest-scoring methods are "structure based," and need the query camera's intrinsics…
Humans have the remarkable ability to use held objects as tools to interact with their environment. For this to occur, humans internally estimate how hand movements affect the object's movement. We wish to endow robots with this capability.…
This paper presents a groundbreaking approach - the first online automatic geometric calibration method for radar and camera systems. Given the significant data sparsity and measurement uncertainty in radar height data, achieving automatic…
Pose graph optimization (PGO) is a well-known technique for solving the pose-based simultaneous localization and mapping (SLAM) problem. In this paper, we represent the rotation and translation by a unit quaternion and a three-dimensional…
The homography matrix is a key component in various vision-based robotic tasks. Traditionally, homography estimation algorithms are classified into feature- or intensity-based. The main advantages of the latter are their versatility,…
Training a robotic arm to accomplish real-world tasks has been attracting increasing attention in both academia and industry. This work discusses the role of computer vision algorithms in this field. We focus on low-cost arms on which no…
Building large-scale, globally consistent maps is a challenging problem, made more difficult in environments with limited access, sparse features, or when using data collected by novice users. For such scenarios, where state-of-the-art…
This paper addresses the problem of 3D hand pose estimation from a monocular RGB image. While previous methods have shown great success, the structure of hands has not been fully exploited, which is critical in pose estimation. To this end,…
The prospect of assistive robots aiding in object organization has always been compelling. In an image-goal setting, the robot rearranges the current scene to match the single image captured from the goal scene. The key to an image-goal…
Occlusions caused by a robot's own body is a common problem for closed-loop control methods employed in eye-to-hand camera setups. We propose an optimization-based reactive controller that minimizes self-occlusions while achieving a desired…
Object rearrangement has recently emerged as a key competency in robot manipulation, with practical solutions generally involving object detection, recognition, grasping and high-level planning. Goal-images describing a desired scene…
Multi-image alignment, bringing a group of images into common register, is an ubiquitous problem and the first step of many applications in a wide variety of domains. As a result, a great amount of effort is being invested in developing…
Camera calibration is a crucial technique which significantly influences the performance of many robotic systems. Robustness and high precision have always been the pursuit of diverse calibration methods. State-of-the-art calibration…
In hazardous and remote environments, robotic systems perform critical tasks demanding improved safety and efficiency. Among these, quadruped robots with manipulator arms offer mobility and versatility for complex operations. However,…
Monocular simultaneous localization and mapping (SLAM) is emerging in advanced driver assistance systems and autonomous driving, because a single camera is cheap and easy to install. Conventional monocular SLAM has two major challenges…
Video stabilization is a longstanding computer vision problem, particularly pixel-level synthesis solutions for video stabilization which synthesize full frames add to the complexity of this task. These techniques aim to stabilize videos by…
Calibrating sports cameras is important for autonomous broadcasting and sports analysis. Here we propose a highly automatic method for calibrating sports cameras from a single image using synthetic data. First, we develop a novel camera…
It is now possible to estimate 3D human pose from monocular images with off-the-shelf 3D pose estimators. However, many practical applications require fine-grained absolute pose information for which multi-view cues and camera calibration…
Planning motions for two robot arms to move an object collaboratively is a difficult problem, mainly because of the closed-chain constraint, which arises whenever two robot hands simultaneously grasp a single rigid object. In this paper, we…
Graph-SLAM is a well-established algorithm for constructing a topological map of the environment while simultaneously attempting the localisation of the robot. It relies on scan matching algorithms to align noisy observations along robot's…