Related papers: Direct Visual Servoing Based on Discrete Orthogona…

Classical Visual Servoing (VS) rely on handcrafted visual features, which limit their generalizability. Recently, a number of approaches, some based on Deep Neural Networks, have been proposed to overcome this limitation by comparing…

Existing deep learning based visual servoing approaches regress the relative camera pose between a pair of images. Therefore, they require a huge amount of training data and sometimes fine-tuning for adaptation to a novel scene.…

We consider the task of semi-supervised video object segmentation (VOS). Our approach mitigates shortcomings in previous VOS work by addressing detail preservation and temporal consistency using visual warping. In contrast to prior work…

Event-based vision sensors, such as the Dynamic Vision Sensor (DVS), are ideally suited for real-time motion analysis. The unique properties encompassed in the readings of such sensors provide high temporal resolution, superior sensitivity…

Visual servoing enables robots to precisely position their end-effector relative to a target object. While classical methods rely on hand-crafted features and thus are universally applicable without task-specific training, they often…

We present a deep neural network-based method to perform high-precision, robust and real-time 6 DOF visual servoing. The paper describes how to create a dataset simulating various perturbations (occlusions and lighting conditions) from a…

Vision-based control provides a significant potential for the end-point positioning of continuum robots under physical sensing limitations. Traditional visual servoing requires feature extraction and tracking followed by full or partial…

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,…

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…

Visual Odometry (VO) can be categorized as being either direct or feature based. When the system is calibrated photometrically, and images are captured at high rates, direct methods have shown to outperform feature-based ones in terms of…

Classical Image-Based Visual Servoing (IBVS) makes use of geometric image features like point, straight line and image moments to control a robotic system. Robust extraction and real-time tracking of these features are crucial to the…

Present image based visual servoing approaches rely on extracting hand crafted visual features from an image. Choosing the right set of features is important as it directly affects the performance of any approach. Motivated by recent…

This paper proposes a novel approach to stereo visual odometry without stereo matching. It is particularly robust in scenes of repetitive high-frequency textures. Referred to as DSVO (Direct Stereo Visual Odometry), it operates directly on…

Visual servoing involves choosing actions that move a robot in response to observations from a camera, in order to reach a goal configuration in the world. Standard visual servoing approaches typically rely on manually designed features and…

This paper proposes a visual-servoing method dedicated to grasping of daily-life objects. In order to obtain an affordable solution, we use a low-accurate robotic arm. Our method corrects errors by using an RGB-D sensor. It is based on SURF…

In this paper, we present a novel visual servoing (VS) approach based on latent Denoising Diffusion Probabilistic Models (DDPMs), that explores the application of generative models for vision-based navigation of UAVs (Uncrewed Aerial…

Any model order reduced dynamical system that evolves a modal decomposition to approximate the discretized solution of a stochastic PDE can be related to a vector field tangent to the manifold of fixed rank matrices. The Dynamically…

Event-based visual odometry is a specific branch of visual Simultaneous Localization and Mapping (SLAM) techniques, which aims at solving tracking and mapping subproblems (typically in parallel), by exploiting the special working principles…

This paper presents a new dual quaternion-based formulation for pose-based visual servoing. Extending our previous work on local contact moment (LoCoMo) based grasp planning, we demonstrate grasping of arbitrarily moving objects in 3D…

Real-world video super-resolution (VSR) presents significant challenges due to complex and unpredictable degradations. Although some recent methods utilize image diffusion models for VSR and have shown improved detail generation…