相关论文: PlaneHEC: Efficient Hand-Eye Calibration for Multi…

In the endeavor to make autonomous robots take actions, task planning is a major challenge that requires translating high-level task descriptions to long-horizon action sequences. Despite recent advances in language model agents, they…

Camera calibration is a crucial prerequisite in many applications of computer vision. In this paper, a new, geometry-based camera calibration technique is proposed, which resolves two main issues associated with the widely used Zhang's…

The demand for multimodal sensing systems for robotics is growing due to the increase in robustness, reliability and accuracy offered by these systems. These systems also need to be spatially and temporally co-registered to be effective. In…

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…

Planar markers are useful in robotics and computer vision for mapping and localisation. Given a detected marker in an image, a frequent task is to estimate the 6DOF pose of the marker relative to the camera, which is an instance of planar…

Images of the eye are key in several computer vision problems, such as shape registration and gaze estimation. Recent large-scale supervised methods for these problems require time-consuming data collection and manual annotation, which can…

Training a robotic arm to accomplish real-world tasks has been attracting increasing attention in both academia and industry. This work discusses the role of computer vision algorithms in this field. We focus on low-cost arms on which no…

Many underwater applications rely on vision sensors and require proper camera calibration, i.e. knowing the incoming light ray for each pixel in the image. While for the ideal pinhole camera model all viewing rays intersect in a single 3D…

Object detection is one of the most fundamental yet challenging research topics in the domain of computer vision. Recently, the study on this topic in aerial images has made tremendous progress. However, complex background and worse imaging…

This paper presents a hierarchical framework for planning and control of in-hand manipulation of a rigid object involving grasp changes using fully-actuated multifingered robotic hands. While the framework can be applied to the general…

For a number of tasks, such as 3D reconstruction, robotic interface, autonomous driving, etc., camera calibration is essential. In this study, we present a unique method for predicting intrinsic (principal point offset and focal length) and…

Computer model calibration is a crucial step in building a reliable computer model. In the face of massive physical observations, a fast estimation for the calibration parameters is urgently needed. To alleviate the computational burden, we…

Hand detection is essential for many hand related tasks, e.g. parsing hand pose, understanding gesture, which are extremely useful for robotics and human-computer interaction. However, hand detection in uncontrolled environments is…

Calibration of sensors is a fundamental step to validate their operation. This can be a demanding task, as it relies on acquiring a detailed modelling of the device, aggravated by its possible dependence upon multiple parameters. Machine…

In policy learning for robotic manipulation, sample efficiency is of paramount importance. Thus, learning and extracting more compact representations from camera observations is a promising avenue. However, current methods often assume full…

Homography estimation between multiple aerial images can provide relative pose estimation for collaborative autonomous exploration and monitoring. The usage on a robotic system requires a fast and robust homography estimation algorithm. In…

This paper presents an open source LiDAR-camera calibration toolbox that is general to LiDAR and camera projection models, requires only one pairing of LiDAR and camera data without a calibration target, and is fully automatic. For…

Human Pose Estimation (HPE) is one of the fundamental problems in computer vision. It has applications ranging from virtual reality, human behavior analysis, video surveillance, anomaly detection, self-driving to medical assistance. The…

LiDAR-camera extrinsic calibration (LCEC) is crucial for data fusion in intelligent vehicles. Offline, target-based approaches have long been the preferred choice in this field. However, they often demonstrate poor adaptability to…

Eye tracking has become increasingly important in virtual and augmented reality applications; however, the current gaze accuracy falls short of meeting the requirements for spatial computing. We designed a gaze collection framework and…