17 citations · 25 across the 10 of their papers we have counts for
10 papers
Alignist: CAD-Informed Orientation Distribution Estimation by Fusing Shape and Correspondences
Shishir Reddy Vutukur, Rasmus Laurvig Haugaard, Junwen Huang +2
Object pose distribution estimation is crucial in robotics for better path planning and handling of symmetric objects. Recent distribution estimation approaches employ contrastive…
Fixture calibration with guaranteed bounds from a few correspondence-free surface points
Rasmus Laurvig Haugaard, Yitaek Kim, Thorbjørn Mosekjær Iversen
Calibration of fixtures in robotic work cells is essential but also time consuming and error-prone, and poor calibration can easily lead to wasted debugging time in downstream task…
KeyMatchNet: Zero-Shot Pose Estimation in 3D Point Clouds by Generalized Keypoint Matching
Frederik Hagelskjær, Rasmus Laurvig Haugaard
In this paper, we present KeyMatchNet, a novel network for zero-shot pose estimation in 3D point clouds. Our method uses only depth information, making it more applicable for many…
SpyroPose: SE(3) Pyramids for Object Pose Distribution Estimation
Rasmus Laurvig Haugaard, Frederik Hagelskjær, Thorbjørn Mosekjær Iversen
Object pose estimation is a core computer vision problem and often an essential component in robotics. Pose estimation is usually approached by seeking the single best estimate of…
Multi-view object pose estimation from correspondence distributions and epipolar geometry
Rasmus Laurvig Haugaard, Thorbjørn Mosekjær Iversen
In many automation tasks involving manipulation of rigid objects, the poses of the objects must be acquired. Vision-based pose estimation using a single RGB or RGB-D sensor is espe…
Ki-Pode: Keypoint-based Implicit Pose Distribution Estimation of Rigid Objects
Thorbjørn Mosekjær Iversen, Rasmus Laurvig Haugaard, Anders Glent Buch
The estimation of 6D poses of rigid objects is a fundamental problem in computer vision. Traditionally pose estimation is concerned with the determination of a single best estimate…
Self-supervised deep visual servoing for high precision peg-in-hole insertion
Rasmus Laurvig Haugaard, Anders Glent Buch, Thorbjørn Mosekjær Iversen
Many industrial assembly tasks involve peg-in-hole like insertions with sub-millimeter tolerances which are challenging, even in highly calibrated robot cells. Visual servoing can…
A Flexible and Robust Vision Trap for Automated Part Feeder Design
Rasmus Laurvig Haugaard, Thorbjørn Mosekjær Iversen, Anders Glent Buch +2
Fast, robust, and flexible part feeding is essential for enabling automation of low volume, high variance assembly tasks. An actuated vision-based solution on a traditional vibrato…
SurfEmb: Dense and Continuous Correspondence Distributions for Object Pose Estimation with Learnt Surface Embeddings
Rasmus Laurvig Haugaard, Anders Glent Buch
We present an approach to learn dense, continuous 2D-3D correspondence distributions over the surface of objects from data with no prior knowledge of visual ambiguities like symmet…
Fast robust peg-in-hole insertion with continuous visual servoing
Rasmus Laurvig Haugaard, Jeppe Langaa, Christoffer Sloth +1
This paper demonstrates a visual servoing method which is robust towards uncertainties related to system calibration and grasping, while significantly reducing the peg-in-hole time…