Tom Vercauteren | Search arXiv

arXiv2026

Hydra: Marker-Free RGB-D Hand-Eye Calibration

This work presents an RGB-D imaging-based approach to marker-free hand-eye calibration using a novel implementation of the iterative closest point (ICP) algorithm with a robust point-to-plane (PTP) objective formulated on a Lie algebra. Its applicability is demonstrated through comprehensive experiments using three well known serial manipulators and two RGB-D cameras. With only three randomly chosen robot configurations, our approach achieves approximately 90% successful calibrations, demonstrating 2-3x higher convergence rates to the global optimum compared to both marker-based and marker-free baselines. We also report 2 orders of magnitude faster convergence time (0.8 +/- 0.4 s) for 9 robot configurations over other marker-free methods. Our method exhibits significantly improved accuracy (5 mm in task space) over classical approaches (7 mm in task space) whilst being marker-free. The benchmarking dataset and code are open sourced under Apache 2.0 License, and a ROS 2 integration with robot abstraction is provided to facilitate deployment.

cs.RO↗

arXiv2026

SinkSLOT: Sinkhorn via Sparse Lifted Optimal Transport

Entropic optimal transport (EOT) has been shown to offer a computationally tractable approximation to exact optimal transport. However, the standard Sinkhorn-Knopp algorithm has two main limitations. First, given discrete measures with $N$ points, each iteration requires $O(N^2)$ operations, which restricts its use on large-scale datasets (e.g. $N\geq10^4$). Second, it uses the independent coupling as a reference measure for regularisation. This assigns mass to high-cost transport edges at moderate regularisation strengths. We propose SinkSLOT, which addresses both limitations by putting forth the expected sliced lifted transport plan as a natural way to sparsify the Gibbs kernel with a non-independent prior coupling. We prove that: 1) SinkSLOT converges; 2) with $L$ slices, each resulting sparse Sinkhorn iteration costs $O(LN)$; and 3) the resulting objective is a divergence requiring no debiasing. Experiments on synthetic benchmarks show that SinkSLOT delivers substantial speedups over state-of-the-art dense and sparse EOT methods. We also demonstrate the applicability of the proposed divergence in a gradient flow experiment. The code is publicly available at https://github.com/cai4cai/SinkSLOT.

cs.LG↗