mlsanityData to 7 Oct 2026

Object-Independent Human-to-Robot Handovers using Real Time Robotic Vision

arXiv 2006.01797 ↗First posted 2 Jun 2020cs.RO cs.CV cs.LGcited by 17

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Abstract (arXiv)

We present an approach for safe and object-independent human-to-robot handovers using real time robotic vision and manipulation. We aim for general applicability with a generic object detector, a fast grasp selection algorithm and by using a single gripper-mounted RGB-D camera, hence not relying on external sensors. The robot is controlled via visual servoing towards the object of interest. Putting a high emphasis on safety, we use two perception modules: human body part segmentation and hand/finger segmentation. Pixels that are deemed to belong to the human are filtered out from candidate grasp poses, hence ensuring that the robot safely picks the object without colliding with the human partner. The grasp selection and perception modules run concurrently in real-time, which allows monitoring of the progress. In experiments with 13 objects, the robot was able to successfully take the object from the human in 81.9% of the trials.

Key facts. Cited by 17 papers in the map (data through 7 Oct 2026). First posted on arXiv 2 Jun 2020.

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Citing papers per year: 2021: 1; 2022: 5; 2023: 4; 2024: 5; 2025: 2.

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  1. 2023Learning Human-to-Robot Handovers from Point Cloudscited by 34
  2. 2022HandoverSim: A Simulation Framework and Benchmark for Human-to-Robot Object Handoverscited by 15
  3. 2024GenH2R: Learning Generalizable Human-to-Robot Handover via Scalable Simulation, Demonstration, and Imitationcited by 14
  4. 2023SynH2R: Synthesizing Hand-Object Motions for Learning Human-to-Robot Handoverscited by 13
  5. 2022Model Predictive Control for Fluid Human-to-Robot Handoverscited by 9
  6. 2021The CORSMAL benchmark for the prediction of the properties of containerscited by 6
  7. 2024Sparse multi-view hand-object reconstruction for unseen environmentscited by 4
  8. 2024MoVEInt: Mixture of Variational Experts for Learning Human-Robot Interactions from Demonstrationscited by 3
  9. 2024Segmenting Object Affordances: Reproducibility and Sensitivity to Scalecited by 3
  10. 2022Improving Generalization of Deep Networks for Estimating Physical Properties of Containers and Fillingscited by 2
  11. 2022Container Localisation and Mass Estimation with an RGB-D Cameracited by 2
  12. 2022Audio-Visual Object Classification for Human-Robot Collaborationcited by 2
5 more
  1. 2023Affordance segmentation of hand-occluded containers from exocentric imagescited by 2
  2. 2024Stereo Hand-Object Reconstruction for Human-to-Robot Handovercited by 2
  3. 2025Visual Affordance Prediction: Survey and Reproducibilitycited by 1
  4. 2023AnyOKP: One-Shot and Instance-Aware Object Keypoint Extraction with Pretrained ViTcited by 0
  5. 2025SPGrasp: Spatiotemporal Prompt-driven Grasp Synthesis in Dynamic Scenescited by 0