相关论文: Automatic Robot Hand-Eye Calibration Enabled by Le…
Recovering high-fidelity 3D hand geometry from images is a critical task in computer vision, holding significant value for domains such as robotics, animation and VR/AR. Crucially, scalable applications demand both accuracy and deployment…
Laser vision sensors (LVS) are critical perception modules for industrial robots, facilitating real-time acquisition of workpiece geometric data in welding applications. However, the camera communication delay will lead to a temporal…
Humans do not passively observe the visual world -- we actively look in order to act. Motivated by this principle, we introduce EyeRobot, a robotic system with gaze behavior that emerges from the need to complete real-world tasks. We…
Robot positioning accuracy is a key factory when performing high-precision manufacturing tasks. To effectively improve the accuracy of a manipulator, often up to a value close to its repeatability, calibration plays a crucial role. In the…
Learning to solve precision-based manipulation tasks from visual feedback using Reinforcement Learning (RL) could drastically reduce the engineering efforts required by traditional robot systems. However, performing fine-grained motor…
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…
We present an approach for estimating the pose of an external camera with respect to a robot using a single RGB image of the robot. The image is processed by a deep neural network to detect 2D projections of keypoints (such as joints)…
The traditional kinematic calibration method for manipulators requires precise three-dimensional measuring instruments to measure the end pose, which is not only expensive due to the high cost of the measuring instruments but also not…
Robots need the capability of placing objects in arbitrary, specific poses to rearrange the world and achieve various valuable tasks. Object reorientation plays a crucial role in this as objects may not initially be oriented such that the…
Recently, Zhuang, Roth, \& Sudhakar [1] proposed a method that allows simultaneous computation of the rigid transformations from world frame to robot base frame and from hand frame to camera frame. Their method attempts to solve a…
This paper presents MEMROC (Multi-Eye to Mobile RObot Calibration), a novel motion-based calibration method that simplifies the process of accurately calibrating multiple cameras relative to a mobile robot's reference frame. MEMROC utilizes…
We present a robot eye-hand coordination learning method that can directly learn visual task specification by watching human demonstrations. Task specification is represented as a task function, which is learned using inverse reinforcement…
The inaccessibility of user-perceived reality remains an open issue in pursuing the accurate calibration of optical see-through (OST) head-mounted displays (HMDs). Manual user alignment is usually required to collect a set of…
Precise collaboration in vision-based dual-arm robot systems requires accurate system calibration. Recent dual-robot calibration methods have achieved strong performance by simultaneously solving multiple coordinate transformations.…
Ophthalmic surgical robots offer superior stability and precision by reducing the natural hand tremors of human surgeons, enabling delicate operations in confined surgical spaces. Despite the advancements in developing vision- and…
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…
In Robot-Assisted Minimally Invasive Surgery (RMIS), accurate tool localization is crucial to ensure patient safety and successful task execution. However, this remains challenging for cable-driven robots, such as the da Vinci robot,…
We introduce RoboPose, a method to estimate the joint angles and the 6D camera-to-robot pose of a known articulated robot from a single RGB image. This is an important problem to grant mobile and itinerant autonomous systems the ability to…
When inverse kinematics (IK) is adopted to control robotic arms in manipulation tasks, there is often a discrepancy between the end effector (EE) position of the robot model in the simulator and the physical EE in reality. In most robotic…
The control of a robot for manipulation tasks generally relies on object detection and pose estimation. An attractive alternative is to learn control policies directly from raw input data. However, this approach is time-consuming and…