Uncertainty Estimation in Vision-Aided Robot Teleoperation System

Teleoperation allows the use of human intelligence and decision making in remote tasks which are too dangerous for humans to perform. Technologies such as force feedback and haptic guidance have shown to increase task efficiency during teleoperation. In an unmodeled environment, sensors provide input for haptic guidance or present extra...

Fast grasping of unknown objects using cylinder searching on a single point cloud

Grasping of unknown objects with neither appearance data nor object models given in advance is very important for robots that work in an unfamiliar environment. The goal of this paper is to quickly synthesize an executable grasp for one unknown object by using cylinder searching on a single point cloud. Specifically, a 3D camera is first used to...

Real-Time Multi-Step View Reconstruction for a Virtual Teleconference System

We propose a real-time multi-step view reconstruction algorithm and we tune its implementation to a virtual teleconference application. Theoretical motivations and practical implementation issues of the algorithm are detailed. The proposed algorithm can be used to reconstruct novel views at arbitrary poses (position and orientation) in a way...