相关论文: Multi-Camera Hand-Eye Calibration for Human-Robot …
Sensor setups of robotic platforms commonly include both camera and LiDAR as they provide complementary information. However, fusing these two modalities typically requires a highly accurate calibration between them. In this paper, we…
Multiple cameras can provide comprehensive multi-view video coverage of a person. Fusing this multi-view data is crucial for tasks like behavioral analysis, although it traditionally requires camera calibration, a process that is often…
Geometric calibration of cameras and projectors is an essential step that must be performed before any imaging system can be used. There are many well-known geometric calibration methods for calibrating systems comprised of multiple…
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…
In this work, we present an effective multi-view approach to closed-loop end-to-end learning of precise manipulation tasks that are 3D in nature. Our method learns to accomplish these tasks using multiple statically placed but uncalibrated…
Recently, industrial robots plays a significant role in intelligent manufacturing. Hence, it is an urgent issue to ensure the robot with the high positioning precision. To address this hot issue, a novel calibration method based on an…
We propose a certifiably globally optimal approach for solving the hand-eye robot-world problem supporting multiple sensors and targets at once. Further, we leverage this formulation for estimating a geo-referenced calibration of…
Hand-eye calibration is the problem of solving the transformation from the end-effector of a robot to the sensor attached to it. Commonly employed techniques, such as AXXB or AXZB formulations, rely on regression methods that require…
RegHEC is a registration-based hand-eye calibration technique with no need for accurate calibration rig but arbitrary available objects, applicable for both eye-in-hand and eye-to-hand cases. It tries to find the hand-eye relation which…
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…
Remote robot manipulation with human control enables applications where safety and environmental constraints are adverse to humans (e.g. underwater, space robotics and disaster response) or the complexity of the task demands human-level…
Camera calibration is integral to robotics and computer vision algorithms that seek to infer geometric properties of the scene from visual input streams. In practice, calibration is a laborious procedure requiring specialized data…
Research indicates that humans can mistakenly assume that robots and humans have the same field of view, possessing an inaccurate mental model of robots. This misperception may lead to failures during human-robot collaboration tasks where…
Visual navigation devices require precise calibration to achieve high-precision localization and navigation, which includes camera and attitude calibration. To address the limitations of time-consuming camera calibration and complex…
A self-contained calibration procedure that can be performed automatically without additional external sensors or tools is a significant advantage, especially for complex robotic systems. Here, we show that the kinematics of a…
Multi-person total motion capture is extremely challenging when it comes to handle severe occlusions, different reconstruction granularities from body to face and hands, drastically changing observation scales and fast body movements. To…
Legged robots are becoming popular not only in research, but also in industry, where they can demonstrate their superiority over wheeled machines in a variety of applications. Either when acting as mobile manipulators or just as all-terrain…
In hazardous and remote environments, robotic systems perform critical tasks demanding improved safety and efficiency. Among these, quadruped robots with manipulator arms offer mobility and versatility for complex operations. However,…
The rapid growth of collaborative robotics in production requires new automation technologies that take human and machine equally into account. In this work, we describe a monocular camera based system to detect human-machine interactions…
The task of camera calibration is to estimate the intrinsic and extrinsic parameters of a camera model. Though there are some restricted techniques to infer the 3-D information about the scene from uncalibrated cameras, effective camera…