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Operating Robots through Mixed Reality
HoloLens offers great potential for human-robot interaction, e.g. to visualize a planned trajectory in the world. This requires that HoloLens and the robot know where they are with respect to each other, which we want to solve through visual localization. The challenge is that robot and HoloLens have different viewpoints and can only communicate on a limited bandwidth. Based on recent work [1, 2], we want to find a robust & fast visual feature matching that overcomes the challenges and still works in real time.
[1] Sarlin, Dusmanu et al., LaMAR, ECCV 2022, lamar.ethz.ch
[2] Cramariuc et al., maplab 2.0, RA-L 2022, maplab.asl.ethz.ch