Related papers: 4-DoF Tracking for Robot Fine Manipulation Tasks
The last several years have seen significant progress in using depth cameras for tracking articulated objects such as human bodies, hands, and robotic manipulators. Most approaches focus on tracking skeletal parameters of a fixed shape…
The vast majority of visual animals actively control their eyes, heads, and/or bodies to direct their gaze toward different parts of their environment. In contrast, recent applications of reinforcement learning in robotic manipulation…
In this paper, we propose an approach to learn hierarchical features for visual object tracking. First, we offline learn features robust to diverse motion patterns from auxiliary video sequences. The hierarchical features are learned via a…
Grasping in cluttered environments is a fundamental but challenging robotic skill. It requires both reasoning about unseen object parts and potential collisions with the manipulator. Most existing data-driven approaches avoid this problem…
Dynamic motions are a key feature of robotic arms, enabling them to perform tasks quickly and efficiently. Soft continuum manipulators do not currently consider dynamic parameters when operating in task space. This shortcoming makes…
This paper presents a comprehensive survey on vision-based robotic grasping. We conclude three key tasks during vision-based robotic grasping, which are object localization, object pose estimation and grasp estimation. In detail, the object…
Flexible endoscope motion tracking and analysis in mechanical simulators have proven useful for endoscopy training. Common motion tracking methods based on electromagnetic tracker are however limited by their high cost and material…
Accurate tissue motion tracking is critical to ensure treatment outcome and safety in 2D-Cine MRI-guided radiotherapy. This is typically achieved by registration of sequential images, but existing methods often face challenges with large…
Robotic manipulation in complex scenes demands precise perception of task-relevant details, yet fixed or suboptimal viewpoints often impair fine-grained perception and induce occlusions, constraining imitation-learned policies. We present…
Due to the challenges of processing temporal information, most trackers depend solely on visual discriminability and overlook the unique temporal coherence of video data. In this paper, we propose a lightweight and plug-and-play motion…
The objective of this work is to enable manipulation tasks with respect to the 6D pose of a dynamically moving object using a camera mounted on a robot. Examples include maintaining a constant relative 6D pose of the robot arm with respect…
The technology for Visual Odometry (VO) that estimates the position and orientation of the moving object through analyzing the image sequences captured by on-board cameras, has been well investigated with the rising interest in autonomous…
This paper introduces an efficient procedure to localize user-defined points on the surface of deformable objects and track their positions in 3D space over time. To cope with a deformable object's infinite number of DOF, we propose a…
Imagine trying to track one particular fruitfly in a swarm of hundreds. Higher biological visual systems have evolved to track moving objects by relying on both appearance and motion features. We investigate if state-of-the-art deep neural…
A significant challenge for real-world robotic manipulation is the effective 6DoF grasping of objects in cluttered scenes from any single viewpoint without the need for additional scene exploration. This work reinterprets grasping as…
Siamese-based trackers have achived promising performance on visual object tracking tasks. Most existing Siamese-based trackers contain two separate branches for tracking, including classification branch and bounding box regression branch.…
Discriminative Correlation Filter (DCF) based methods have shown competitive performance on tracking benchmarks in recent years. Generally, DCF based trackers learn a rigid appearance model of the target. However, this reliance on a single…
For soft continuum arms, visual servoing is a popular control strategy that relies on visual feedback to close the control loop. However, robust visual servoing is challenging as it requires reliable feature extraction from the image,…
Visual object tracking, as a fundamental task in computer vision, has drawn much attention in recent years. To extend trackers to a wider range of applications, researchers have introduced information from multiple modalities to handle…
Determining the relative position and orientation of objects in an environment is a fundamental building block for a wide range of robotics applications. To accomplish this task efficiently in practical settings, a method must be fast, use…