发表机构
Autel US（Autel US）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
提出KIWI，一种仅用360°相机实现双臂操作捕捉的模块化系统，通过前后镜头分工与IMU融合，实现高精度定位与场景重建。
AI 中文摘要
用于UMI风格数据采集的腕戴式相机必须完成两项工作：记录操作并在场景中定位。大多数手持设备通过面向工作区的视图进行在线定位，这些视图被手和物体拥挤，或者添加专用的跟踪硬件。因此，房间规模的双臂捕捉仍然倾向于对操作员或场景进行仪器化以实现精确定位。我们提出了KIWI（野外运动学接口），一种仅使用现成相机作为电子元件的采集套件。我们的核心系统将这两项工作分配给360度相机的两个镜头。后镜头面向房间，构建一个共享的度量地图，在一个框架内注册双手（以及可选的头戴相机），无需工作区共视；前镜头记录操作，离线IMU融合弥补前镜头跟踪丢失。通过我们的快速释放板，相机模块可以连接到筷子夹爪、平行颚夹爪、手腕支架或机器人法兰上。在六次双臂记录中，结合后镜头和前镜头仅未能定位0.1%的查询帧，而仅使用前镜头的双臂特征对齐在24.8%的帧上失败，并完全丢失了一次记录；相对于评估基准，定位误差保持在4.5毫米以内。KIWI恢复的姿势足够一致，仅凭四个手腕流即可将场景重建为3D高斯溅射。
英文摘要
A wrist-mounted camera for UMI-style data collection must do two jobs: record the manipulation and localize in the scene. Most handheld devices localize online from workspace-facing views crowded by hands and objects, or add dedicated tracking hardware. Room-scale bimanual capture therefore still tends to instrument the operator or the scene for accurate localization. We present KIWI (Kinematic Interface for the Wild), a capture kit whose only electronics are off-the-shelf cameras. Our core system splits the two jobs across the two lenses of a 360-degree camera. The rear lens faces the room and builds a shared metric map that registers both hands, and an optional head camera, in one frame without workspace co-visibility; the front lens records the manipulation, and offline IMU fusion bridges front-lens tracking loss. Through our quick-release plate, the camera module attaches to chopstick grippers, parallel-jaw grippers, hand-wrist mounts, or robot flanges. Across six bimanual recordings, combining the rear and front lenses failed to localize only 0.1% of query frames, whereas front-only bimanual feature alignment failed on 24.8% of frames and lost one recording entirely; against evaluation fiducials, localization error stayed within 4.5 mm. KIWI's recovered poses were sufficiently consistent for the four wrist streams alone to reconstruct the scene as a 3D Gaussian splat.
Comments10 pages, 9 figures
