相关论文: GISR: Geometric Initialization and Silhouette-base…

Precise pose estimation of optical microrobots is essential for enabling high-precision object tracking and autonomous biological studies. However, current methods rely heavily on large, high-quality microscope image datasets, which are…

In this work, we tackle the problem of online camera-to-robot pose estimation from single-view successive frames of an image sequence, a crucial task for robots to interact with the world.

In response to the increasing demand for cardiocerebrovascular interventional surgeries, precise control of interventional robots has become increasingly important. Within these complex vascular scenarios, the accurate and reliable…

Deployment of legged robots for navigating challenging terrains (e.g., stairs, slopes, and unstructured environments) has gained increasing preference over wheel-based platforms. In such scenarios, accurate odometry estimation is a…

Accurate ego-motion estimation in consumer-grade vehicles currently relies on proprioceptive sensors, i.e. wheel odometry and IMUs, whose performance is limited by systematic errors and calibration. While visual-inertial SLAM has become a…

A global navigation satellite system (GNSS) is a sensor that can acquire 3D position and velocity in an earth-fixed coordinate system and is widely used for outdoor position estimation of robots and vehicles. Various GNSS/inertial…

3D Gaussian Splatting (3DGS) effectively synthesizes novel views through its flexible representation, yet fails to accurately reconstruct scene geometry. While modern variants like PGSR introduce additional losses to ensure proper depth and…

Accurate 6D object pose estimation is fundamental to robotic manipulation and grasping. Previous methods follow a local optimization approach which minimizes the distance between closest point pairs to handle the rotation ambiguity of…

This paper presents a novel algorithm named Direct Simultaneous Registration (DSR) that registers a collection of 3D images in a simultaneous fashion without specifying any reference image, feature extraction and matching, or information…

Robotic grasping is a cornerstone capability of embodied systems. Many methods directly output grasps from partial information without modeling the geometry of the scene, leading to suboptimal motion and even collisions. To address these…

This paper presents Piggyback Camera, an easy-to-deploy system for visual surveillance using commercial robot vacuums. Rather than requiring access to internal robot systems, our approach mounts a smartphone equipped with a camera and…

Accurate estimation of the environment structure simultaneously with the robot pose is a key capability of autonomous robotic vehicles. Classical simultaneous localization and mapping (SLAM) algorithms rely on the static world assumption to…

Accurate and reliable sensor calibration is critical for fusing LiDAR and inertial measurements in autonomous driving. This paper proposes a novel three-stage extrinsic calibration method between LiDAR and GNSS/INS for autonomous driving.…

Despite the immense technology advancement in the surgeries the criteria of assessing the surgical skills still remains based on subjective standards. With the advent of robotic-assisted surgery, new opportunities for objective and…

Remote sensing image super-resolution (RSISR) is a crucial task in remote sensing image processing, aiming to reconstruct high-resolution (HR) images from their low-resolution (LR) counterparts. Despite the growing number of RSISR methods…

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.…

Deep neural networks have greatly promoted the performance of single image super-resolution (SISR). Conventional methods still resort to restoring the single high-resolution (HR) solution only based on the input of image modality. However,…

Humanoid robots have significant gaps in their sensing and perception, making it hard to perform motion planning in dense environments. To address this, we introduce ARMOR, a novel egocentric perception system that integrates both hardware…

Robust estimation of object poses in robotic manipulation is often addressed using foundational general estimators, that aim to handle diverse error sources naively within a single model. Still, they struggle due to environmental…

Recent deep-learning-based single image super-resolution (SISR) methods have shown impressive performance whereas typical methods train their networks by minimizing the pixel-wise distance with respect to a given high-resolution (HR) image.…