9 accepted papers
We introduce a pipeline that enhances a general-purpose Vision Language Model, GPT-4V(ision), to facilitate one-shot visual teaching for robotic manipulation. This system analyzes videos of humans performing tasks and outputs executable robot programs that incorporate insights into affordances. The
We propose an extrinsic calibration method for LiDAR-camera fusion systems using variations in intensities projected from camera images to the LiDAR point cloud. As the input, the proposed method uses a sequence of LiDAR data and camera images captured while moving the system. Once the camera motion…
Body language such as conversational gesture is a powerful way to ease communication. Conversational gestures do not only make a speech more lively but also contain semantic meaning that helps to stress important information in the discussion. In the field of robotics, giving conversational agents (…
Many works in robot teaching either focus only on teaching task knowledge, such as geometric constraints, or motion knowledge, such as the motion for accomplishing a task. However, to effectively teach a complex task sequence to a robot, it is important to take advantage of both task and motion know
The learning-from-observation (LfO) framework aims to map human demonstrations to a robot to reduce programming effort. To this end, an LfO system encodes a human demonstration into a series of execution units for a robot, which are referred to as task models. Although previous research has proposed…
This paper proposes a targetless and automatic camera-LiDAR calibration method. Our approach extends the hand-eye calibration framework to 2D-3D calibration. The scaled camera motions are accurately calculated using a sensor-fusion odometry method. We also clarify the suitable motions for our calibr…
We present a method for radiometric calibration of cameras from a single image that contains a human face. This technique takes advantage of a low-rank property that exists among certain skin albedo gradients because of the pigments within the skin. This property becomes distorted in images that are…
We present a method for removing specular highlight reflections in facial images that may contain varying illumination colors. This is accurately achieved through the use of physical and statistical properties of human skin and faces. We employ a melanin and hemoglobin based model to represent the d…
Reconstruction of shapes and appearances of thin film objects can be applied to many fields such as industrial inspection, biological analysis, and archeology research. However, it comes with many challenging issues because the appearances of thin film can change dramatically depending on view and l…