相关论文: Image Measurement Method for Automatic Insertion o…

In this paper, we propose a method for calculating the three-dimensional (3D) position and orientation of a pallet placed on a shelf on the side of a forklift truck using a 360-degree camera. By using a 360-degree camera mounted on the…

Automating pallet handling in outdoor logistics and construction environments remains challenging due to unstructured scenes, variable pallet configurations, and changing environmental conditions. In this paper, we present Lang2Lift, an…

This paper proposes a control method for autonomous forklifts to unload pallets on inclined surfaces, enabling the fork to be withdrawn without dragging the pallets. The proposed method applies the Iterative Closest Point (ICP) algorithm to…

Camera calibration is a crucial step in robotics and computer vision. Accurate camera parameters are necessary to achieve robust applications. Nowadays, camera calibration process consists of adjusting a set of data to a pin-hole model,…

With telescope apertures becoming larger and larger, the deployment of large-field telescopes is becoming increasingly popular. However, optical path calibration is necessary to ensure the image quality of large-field and large-diameter…

Recent advances in visual 6D pose estimation of objects using deep neural networks have enabled novel ways of vision-based control for heavy-duty robotic applications. In this study, we present a pipeline for the precise tool positioning of…

Hand-held light field (LF) cameras have unique advantages in computer vision such as 3D scene reconstruction and depth estimation. However, the related applications are limited by the ultra-small baseline, e.g., leading to the extremely low…

This paper proposes a novel method to refine the 6D pose estimation inferred by an instance-level deep neural network which processes a single RGB image and that has been trained on synthetic images only. The proposed optimization algorithm…

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…

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…

This paper introduces a novel approach to the fine alignment of images in a burst captured by a handheld camera. In contrast to traditional techniques that estimate two-dimensional transformations between frame pairs or rely on discrete…

Elevator button recognition is considered an indispensable function for enabling the autonomous elevator operation of mobile robots. However, due to unfavorable image conditions and various image distortions, the recognition accuracy…

The automation of material handling in warehouses increasingly relies on robust, low cost perception systems for forklifts and Automated Guided Vehicles (AGVs). This work presents a vision based framework for pallet and pallet hole…

This paper introduces a novel approach for the grasping and precise placement of various known rigid objects using multiple grippers within highly cluttered scenes. Using a single depth image of the scene, our method estimates multiple 6D…

The insertion of through-hole components is a difficult task. As the tolerances of the holes are very small, minor errors in the insertion will result in failures. These failures can damage components and will require manual intervention…

Camera pose estimation from sparse correspondences is a fundamental problem in geometric computer vision and remains particularly challenging in near-field scenarios, where strong perspective effects and heterogeneous measurement noise can…

The process of camera calibration involves estimating the intrinsic and extrinsic parameters, which are essential for accurately performing tasks such as 3D reconstruction, object tracking and augmented reality. In this work, we propose a…

In this paper, a self-calibration approach for eye-in-hand robots using SLAM is considered. The goal is to calibrate the positioning of a robotic arm, with a camera mounted on the end-effector automatically using a SLAM-based method like…

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…

Estimating the pose of a pallet and other logistics objects is crucial for various use cases, such as automatized material handling or tracking. Innovations in computer vision, computing power, and machine learning open up new opportunities…