arXiv:2606. 13509v1 Announce Type: cross Abstract: Indoor vision-based localization systems are affected by detection noise, occlusions, and limited camera coverage, leading to uncertainty at multiple stages of the pipeline.
By Mateo Toro Diz, Jonathan Hoss, Noah Klarmann
Hydra introduces a marker‑free RGB‑D hand‑eye calibration method that leverages a novel ICP algorithm with a robust point‑to‑plane objective on a Lie algebra. Experiments on three serial manipulators and two RGB‑D cameras show that with only three random robot configurations the method achieves about 90% successful calibrations, 2–3× faster convergence to the global optimum, and 2 orders of magnitude faster convergence time (0.8 ± 0.4 s) compared to other marker‑free baselines. The approach delivers improved accuracy (5 mm in task space versus 7 mm for classical methods) while remaining marker‑free, and the authors provide an open‑source dataset, code, and ROS 2 integration.
By Martin Huber, Huanyu Tian, Christopher E. Mower, Lucas-Raphael M\"uller, S\'ebastien Ourselin, Christos Bergeles, Tom Vercauteren
arXiv:2609.10082v1 Announce Type: cross
Abstract: Accurate camera intrinsic calibration is fundamental to robot perception, and the accuracy depends on the quality of the collected images. However, e...
By Xiangcheng Hu
Real-world robot deployment rarely maintains the training-stage camera setup, where cameras often experience repositioning or remounting depending on actual scenarios. Existing view-robust Vision-Language-Action (VLA) policies tolerate such camera variations only when the camera extrinsics are explicitly provided, making them fragile and hard to use especially when view robustness is critical.
arXiv:2607. 05396v1 Announce Type: cross Abstract: Real-world robot deployment rarely maintains the training-stage camera setup, where cameras often experience repositioning or remounting depending on actual scenarios.
By Wenhao Li, Xueying Jiang, Quanhao Qian, Deli Zhao, Shijian Lu, Gongjie Zhang, Ran Xu
arXiv:2610.01744v1 Announce Type: new
Abstract: Robot manipulation models primarily reason from 2D observations while acting in the 3D physical world. To bridge this gap, recent work has augmented ro...
By Wonguen Cho, Junhoo Lee, Nojun Kwak