相关论文: A Graph-based Optimization Framework for Hand-Eye …

Simultaneous Localisation and Mapping (SLAM) is one of the fundamental problems in autonomous mobile robots where a robot needs to reconstruct a previously unseen environment while simultaneously localising itself with respect to the map.…

This paper proposes a method to compute camera 6Dof poses to achieve a user defined coverage. The camera placement problem is modeled as a combinatorial optimization where given the maximum number of cameras, a camera set is selected from a…

We present a novel solution to the camera pose estimation problem, where rotation and translation of a camera between two views are estimated from matched feature points in the images. The camera pose estimation problem is traditionally…

While motion planning of locomotion for legged robots has shown great success, motion planning for legged robots with dexterous multi-finger grasping is not mature yet. We present an efficient motion planning framework for simultaneously…

We address the challenging problem of dense dynamic scene reconstruction and camera pose estimation from multiple freely moving cameras -- a setting that arises naturally when multiple observers capture a shared event. Prior approaches…

RGB-based 3D hand pose estimation has been successful for decades thanks to large-scale databases and deep learning. However, the hand pose estimation network does not operate well for hand pose images whose characteristics are far…

Modern camera pipelines apply extensive on-device processing, such as exposure adjustment, white balance, and color correction, which, while beneficial individually, often introduce photometric inconsistencies across views. These appearance…

Multi-camera systems offer rich observation capabilities for visual navigation and 3D scene reconstruction; however, the resulting feature redundancy often compromises computational efficiency. This challenge is particularly pronounced…

In many scenarios where cameras are applied, such as robot positioning and unmanned driving, camera calibration is one of the most important pre-work. The interactive calibration method based on the plane board is becoming popular in camera…

We address the problem of epipolar geometry using the motion of silhouettes. Such methods match epipolar lines or frontier points across views, which are then used as the set of putative correspondences. We introduce an approach that…

In this paper we present a visual servoing approach to the problem of object grasping and more generally, to the problem of aligning an end-effector with an object. First we extend the method proposed by Espiau et al. [1] to the case of a…

Accurate camera-to-robot calibration is essential for any vision-based robotic control system and especially critical in minimally invasive surgical robots, where instruments conduct precise micro-manipulations. However, MIS robots have…

This work presents an RGB-D imaging-based approach to marker-free hand-eye calibration using a novel implementation of the iterative closest point (ICP) algorithm with a robust point-to-plane (PTP) objective formulated on a Lie algebra. Its…

With the development of autonomous driving technology, sensor calibration has become a key technology to achieve accurate perception fusion and localization. Accurate calibration of the sensors ensures that each sensor can function properly…

A common prerequisite for evaluating a visual(-inertial) odometry (VO/VIO) algorithm is to align the timestamps and the reference frame of its estimated trajectory with a reference ground-truth derived from a system of superior precision,…

Appearance-based gaze estimation from RGB images provides relatively unconstrained gaze tracking. We have previously proposed a gaze decomposition method that decomposes the gaze angle into the sum of a subject-independent gaze estimate…

Visual place recognition is an important subproblem of mobile robot localization. Since it is a special case of image retrieval, the basic source of information is the pairwise similarity of image descriptors. However, the embedding of the…

In many robotics problems, there is a significant gain in collaborative information sharing between multiple robots, for exploration, search and rescue, tracking multiple targets, or mapping large environments. One of the key implicit…

Adding more cameras to SLAM systems improves robustness and accuracy but complicates the design of the visual front-end significantly. Thus, most systems in the literature are tailored for specific camera configurations. In this work, we…

This paper describes CALICO, a method for multi-camera calibration suitable for challenging contexts: stationary and mobile multi-camera systems, cameras without overlapping fields of view, and non-synchronized cameras. Recent approaches…