相关论文: Applications of Uncalibrated Image Based Visual Se…
We present a Gaussian Splatting-based framework for hand-eye calibration of the da Vinci surgical robot. In a vision-guided robotic system, accurate estimation of the rigid transformation between the robot base and the camera frame is…
Localizing an object accurately with respect to a robot is a key step for autonomous robotic manipulation. In this work, we propose to tackle this task knowing only 3D models of the robot and object in the particular case where the scene is…
Many works in collaborative robotics and human-robot interaction focuses on identifying and predicting human behaviour while considering the information about the robot itself as given. This can be the case when sensors and the robot are…
Autonomy is the frontier of research in robotic surgery and its aim is to improve the quality of surgical procedures in the next future. One fundamental requirement for autonomy is advanced perception capability through vision sensors. In…
Present image based visual servoing approaches rely on extracting hand crafted visual features from an image. Choosing the right set of features is important as it directly affects the performance of any approach. Motivated by recent…
State estimation from measured data is crucial for robotic applications as autonomous systems rely on sensors to capture the motion and localize in the 3D world. Among sensors that are designed for measuring a robot's pose, or for soft…
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…
This paper demonstrates a visual servoing method which is robust towards uncertainties related to system calibration and grasping, while significantly reducing the peg-in-hole time compared to classical methods and recent attempts based on…
Sensor setups consisting of a combination of 3D range scanner lasers and stereo vision systems are becoming a popular choice for on-board perception systems in vehicles; however, the combined use of both sources of information implies a…
This study presents a vision-guided robotic control system for automated fruit tree pruning applications. Traditional pruning practices are labor-intensive and limit agricultural efficiency and scalability, highlighting the need for…
We propose a novel method for spatiotemporal multi-camera calibration using freely moving people in multiview videos. Since calibrating multiple cameras and finding matches across their views are inherently interdependent, performing both…
In robot navigation and manipulation, accurately determining the camera's pose relative to the environment is crucial for effective task execution. In this paper, we systematically prove that this problem corresponds to the…
This paper describes a stereo image-based visual servoing system for trajectory tracking by a non-holonomic robot without externally derived pose information nor a known visual map of the environment. It is called trajectory servoing. The…
Calibration of multi-camera systems is a key task for accurate object tracking. However, it remains a challenging problem in real-world conditions, where traditional methods are not applicable due to the lack of accurate floor plans,…
Robotic calibration allows for the fusion of data from multiple sensors such as odometers, cameras, etc., by providing appropriate transformational relationships between the corresponding reference frames. For wheeled robots equipped with…
This work proposes a fast deployment pipeline for visually-servoed robots which does not assume anything about either the robot - e.g. sizes, colour or the presence of markers - or the deployment environment. In this, accurate estimation of…
Complex and contact-rich robotic manipulation tasks, particularly those that involve multi-fingered hands and underactuated object manipulation, present a significant challenge to any control method. Methods based on reinforcement learning…
This work addresses the problem of designing a visual servo controller for a multirotor vehicle, with the end goal of tracking a moving spherical target with unknown radius. To address this problem, we first transform two bearing…
Mobile robotic applications need precise information about the geometric position of the individual sensors on the platform. This information is given by the extrinsic calibration parameters which define how the sensor is rotated and…
Accurate extrinsic sensor calibration is essential for both autonomous vehicles and robots. Traditionally this is an involved process requiring calibration targets, known fiducial markers and is generally performed in a lab. Moreover, even…