91 citations · 306 across the 12 of their papers we have counts for
7 papers · 1 filter
DexYCB: A Benchmark for Capturing Hand Grasping of Objects
Yu-Wei Chao, Wei Yang, Yu Xiang +9
We introduce DexYCB, a new dataset for capturing hand grasping of objects. We first compare DexYCB with a related one through cross-dataset evaluation. We then present a thorough b…
DexPilot: Vision Based Teleoperation of Dexterous Robotic Hand-Arm System
Ankur Handa, Karl Van Wyk, Wei Yang +6
Teleoperation offers the possibility of imparting robotic systems with sophisticated reasoning skills, intuition, and creativity to perform tasks. However, current teleoperation so…
Self-Supervised Siamese Learning on Stereo Image Pairs for Depth Estimation in Robotic Surgery
Menglong Ye, Edward Johns, Ankur Handa +3
Robotic surgery has become a powerful tool for performing minimally invasive procedures, providing advantages in dexterity, precision, and 3D vision, over traditional surgery. One…
SceneNet RGB-D: 5M Photorealistic Images of Synthetic Indoor Trajectories with Ground Truth
John McCormac, Ankur Handa, Stefan Leutenegger +1
We introduce SceneNet RGB-D, expanding the previous work of SceneNet to enable large scale photorealistic rendering of indoor scene trajectories. It provides pixel-perfect ground t…
HDRFusion: HDR SLAM using a low-cost auto-exposure RGB-D sensor
Shuda Li, Ankur Handa, Yang Zhang +1
We describe a new method for comparing frame appearance in a frame-to-model 3-D mapping and tracking system using an low dynamic range (LDR) RGB-D camera which is robust to brightn…
SegNet: A Deep Convolutional Encoder-Decoder Architecture for Robust Semantic Pixel-Wise Labelling
Vijay Badrinarayanan, Ankur Handa, Roberto Cipolla
We propose a novel deep architecture, SegNet, for semantic pixel wise image labelling. SegNet has several attractive properties; (i) it only requires forward evaluation of a fully…