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In this paper we present a framework for the estimation of the pose of an object in 3D space: from the detection and subsequent recognition from a 3D point-cloud, to tracking in the 2D camera plane. The detection process proposes a way to remove redundant features, which leads to significant computational savings without affecting identification performance. The tracking process introduces a method...
In this paper we propose techniques for the calibration of the iCub's stereo head using vision and inertial measurements. Given that wear and tear can change the geometrical relationship between the different elements in the kinematic chain, new calibrations must be performed periodically. We propose methods that allow automatic calibration without the need for using external sensors or specially...
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