相关论文: EasyHeC++: Fully Automatic Hand-Eye Calibration wi…
Eye gaze can provide rich information on human psychological activities, and has garnered significant attention in the field of Human-Robot Interaction (HRI). However, existing gaze estimation methods merely predict either the gaze…
Industrial robot arms are extensively important for intelligent manufacturing. An industrial robot arm commonly enjoys its high repetitive positioning accuracy while suffering from its low absolute positioning accuracy, which greatly…
For decades, three-dimensional C-arm Cone-Beam Computed Tomography (CBCT) imaging system has been a critical component for complex vascular and nonvascular interventional procedures. While it can significantly improve multiplanar soft…
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…
3D hand shape and pose estimation from a single depth map is a new and challenging computer vision problem with many applications. Existing methods addressing it directly regress hand meshes via 2D convolutional neural networks, which leads…
In this work, we present an approach for monocular hand-eye calibration from per-sensor ego-motion based on dual quaternions. Due to non-metrically scaled translations of monocular odometry, a scaling factor has to be estimated in addition…
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…
Individuals with tetraplegia and similar forms of paralysis suffer physically and emotionally due to a lack of autonomy. To help regain part of this autonomy, assistive robotic arms have been shown to increase living independence. However,…
Despite the extensive demonstration of robotic systems for both cataract and vitreoretinal procedures, existing technologies or mechanisms still possess insufficient accuracy, precision, and degrees of freedom for instrument manipulation or…
The term robot generally refers to a machine that looks and works in a way similar to a human. The modern industry is rapidly shifting from manual control of systems to automation, in order to increase productivity and to deliver quality…
This paper presents a real-time programming and parameter reconfiguration method for autonomous underwater robots in human-robot collaborative tasks. Using a set of intuitive and meaningful hand gestures, we develop a syntactically simple…
Calibrating robots into their workspaces is crucial for manipulation tasks. Existing calibration techniques often rely on sensors external to the robot (cameras, laser scanners, etc.) or specialized tools. This reliance complicates the…
Fusion of heterogeneous extroceptive sensors is the most effient and effective way to representing the environment precisely, as it overcomes various defects of each homogeneous sensor. The rigid transformation (aka. extrinsic parameters)…
Camera calibration is an essential prerequisite for event-based vision applications. Current event camera calibration methods typically involve using flashing patterns, reconstructing intensity images, and utilizing the features extracted…
Brain computer interface is the current area of research to provide assistance to disabled persons. To cope up with the growing needs of BCI applications, this paper presents an automated classification scheme for handgrip actions on…
Humanoid robots show promise for complex whole-body tasks in unstructured environments. Although Human-Object Interaction (HOI) has advanced, most methods focus on fully actuated objects rigidly coupled to the robot, ignoring underactuated…
We present a novel Hand-pose Embedding Interactive System (HpEIS) as a virtual sensor, which maps users' flexible hand poses to a two-dimensional visual space using a Variational Autoencoder (VAE) trained on a variety of hand poses. HpEIS…
Visual servoing is a well-known task in robotics. However, there are still challenges when multiple visual sources are combined to accurately guide the robot or occlusions appear. In this paper we present a novel visual servoing approach…
Action recognition is essential for egocentric video understanding, allowing automatic and continuous monitoring of Activities of Daily Living (ADLs) without user effort. Existing literature focuses on 3D hand pose input, which requires…
We hand the community HAND, a simple and time-efficient method for teaching robots new manipulation tasks through human hand demonstrations. Instead of relying on task-specific robot demonstrations collected via teleoperation, HAND uses…