Related papers: Applications of Uncalibrated Image Based Visual Se…
We present a system which grows and manages a network of remote viewpoints during the natural installation cycle for a newly installed camera network or a newly deployed robot fleet. No explicit notion of camera position or orientation is…
This work presents the dual benefit of integrating imitation learning techniques, based on the dynamical systems formalism, with the visual servoing paradigm. On the one hand, dynamical systems allow to program additional skills without…
Despite their mechanical sophistication, surgical robots remain blind to their surroundings. This lack of spatial awareness causes collisions, system recoveries, and workflow disruptions, issues that will intensify with the introduction of…
Over the past decade, there has been a significant increase in the use of Unmanned Aerial Vehicles (UAVs) to support a wide variety of missions, such as remote surveillance, vehicle tracking, and object detection. For problems involving…
In industrial scenarios, effective human-robot collaboration relies on multi-camera systems to robustly monitor human operators despite the occlusions that typically show up in a robotic workcell. In this scenario, precise localization of…
Robots often rely on RGB images for tasks like manipulation and navigation. However, reliable interaction typically requires a 3D scene representation that is metric-scaled and aligned with the robot reference frame. This depends on…
This paper presents an adaptive visual servoing framework for robotic on-orbit servicing (OOS), specifically designed for capturing tumbling satellites. The vision-guided robotic system is capable of selecting optimal control actions in the…
Accurate camera-to-robot calibration is essential for any vision-based robotic control system and especially critical in minimally invasive surgical robots, where instruments conduct precise micro-manipulations. However, MIS robots have…
This paper presents MEMROC (Multi-Eye to Mobile RObot Calibration), a novel motion-based calibration method that simplifies the process of accurately calibrating multiple cameras relative to a mobile robot's reference frame. MEMROC utilizes…
Both, robot and hand-eye calibration haven been object to research for decades. While current approaches manage to precisely and robustly identify the parameters of a robot's kinematic model, they still rely on external devices, such as…
In robotics, motion capture systems have been widely used to measure the accuracy of localization algorithms. Moreover, this infrastructure can also be used for other computer vision tasks, such as the evaluation of Visual (-Inertial) SLAM…
We present a general framework for accurate positioning of sensors and end effectors in farm settings using a camera mounted on a robotic manipulator. Our main contribution is a visual servoing approach based on a new and robust feature…
When developing control laws for robotic systems, the principle factor when examining their performance is choosing inputs that allow smooth tracking to a reference input. In the context of robotic manipulation, this involves translating an…
In this paper, we perform robot manipulation activities in real-world environments with language contexts by integrating a compact referring image segmentation model into the robot's perception module. First, we propose CLIPU$^2$Net, a…
In this paper we present an approach for learning to imitate human behavior on a semantic level by markerless visual observation. We analyze a set of spatial constraints on human pose data extracted using convolutional pose machines and…
Camera calibration is a process of paramount importance in computer vision applications that require accurate quantitative measurements. The popular method developed by Zhang relies on the use of a large number of images of a planar grid of…
This paper presents an image-based visual servo control (IBVS) method for a first-person-view (FPV) quadrotor to conduct aggressive aerial tracking. There are three major challenges to maneuvering an underactuated vehicle using IBVS: (i)…
We present a novel method for extrinsically calibrating a camera and a 2D Laser Rangefinder (LRF) whose beams are invisible from the camera image. We show that point-to-plane constraints from a single observation of a V-shaped calibration…
Most intelligent transportation systems use a combination of radar sensors and cameras for robust vehicle perception. The calibration of these heterogeneous sensor types in an automatic fashion during system operation is challenging due to…
In view of the classical visual servoing trajectory planning method which only considers the camera trajectory, this paper proposes one homography matrix based trajectory planning method for robot uncalibrated visual servoing. Taking the…