Ever more robust, accurate and detailed mapping using visual sensing has proven to be an
enabling factor for mobile robots across a wide variety of applications. For the next level of …

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 …

The state of the art in computer vision has rapidly advanced over the past decade largely
aided by shared image datasets. However, most of these datasets tend to consist of assorted …

Robotic manipulation requires accurate perception of the environment, which poses a
significant challenge due to its inherent complexity and constantly changing nature. In this …

Recognizing objects and estimating their poses have a wide range of application in robotics.
For instance, to grasp objects, robots need the position and orientation of objects in 3D. The …

Localizing an object accurately with respect to a robot is a key step for autonomous robotic
manipulation. In this work, we propose to tackle this task knowing only 3D models of the …

Animating an object in 3D often requires an articulated structure, eg a kinematic chain or
skeleton of the manipulated object with proper skinning weights, to obtain smooth …

This paper addresses the problem of building augmented metric representations of scenes
with semantic information from RGB-D images. We propose a complete framework to create …

3D scene graphs have recently emerged as an expressive high-level map representation
that describes a 3D environment as a layered graph where nodes represent spatial …

Learning-based perception systems in robotics often requires large-scale image
segmentation annotation. Current approaches rely on human labelers, which can be …