相关论文: Hand-Eye Calibration
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,…
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…
We introduce new linear mathematical formulations to calculate the focal length of a camera in an active platform. Through mathematical derivations, we show that the focal lengths in each direction can be estimated using only one point…
Precise sensor calibration is critical for autonomous vehicles as a prerequisite for perception algorithms to function properly. Rotation error of one degree can translate to position error of meters in target object detection at large…
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…
We present a solution to the problem of spatio-temporal calibration for event cameras mounted on an onmi-directional vehicle. Different from traditional methods that typically determine the camera's pose with respect to the vehicle's body…
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…
Accurate in-hand pose estimation is crucial for robotic object manipulation, but visual occlusion remains a major challenge for vision-based approaches. This paper presents an approach to robotic in-hand object pose estimation, combining…
Collaborative robotic industrial cells are workspaces where robots collaborate with human operators. In this context, safety is paramount, and for that a complete perception of the space where the collaborative robot is inserted is…
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…
The paper is devoted to the elastostatic calibration of industrial robots, which is used for precise machining of large-dimensional parts made of composite materials. In this technological process, the interaction between the robot and the…
During in-hand manipulation, robots must be able to continuously estimate the pose of the object in order to generate appropriate control actions. The performance of algorithms for pose estimation hinges on the robot's sensors being able to…
When a humanoid robot performs a manipulation task, it first makes a model of the world using its visual sensors and then plans the motion of its body in this model. For this, precise calibration of the camera parameters and the kinematic…
The implementation of computational sensing strategies often faces calibration problems typically solved by means of multiple, accurately chosen training signals, an approach that can be resource-consuming and cumbersome. Conversely, blind…
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,…
Image editing and compositing have become ubiquitous in entertainment, from digital art to AR and VR experiences. To produce beautiful composites, the camera needs to be geometrically calibrated, which can be tedious and requires a physical…
Medical augmented reality has been actively studied for decades and many methods have been proposed torevolutionize clinical procedures. One example is the camera augmented mobile C-arm (CAMC), which providesa real-time video augmentation…
Illuminating a scene with artificial light is a prerequisite for seeing in dark environments. However, nonuniform and dynamic illumination can deteriorate or even break computer vision approaches, for instance when operating a robot with…
Camera calibration involves estimating camera parameters to infer geometric features from captured sequences, which is crucial for computer vision and robotics. However, conventional calibration is laborious and requires dedicated…
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…