Related papers: Direct Visual Servoing Based on Discrete Orthogona…
Visual Deformation Measurement (VDM) aims to recover dense deformation fields by tracking surface motion from camera observations. Traditional image-based methods rely on minimal inter-frame motion to constrain the correspondence search…
Referring video object segmentation (RVOS) is an emerging cross-modality task that aims to generate pixel-level maps of the target objects referred by given textual expressions. The main concept involves learning an accurate alignment of…
Stochastic dynamical systems with continuous symmetries arise commonly in nature and often give rise to coherent spatio-temporal patterns. However, because of their random locations, these patterns are not well captured by current order…
In this paper we present a visual servoing approach to the problem of object grasping and more generally, to the problem of aligning an end-effector with an object. First we extend the method proposed by Espiau et al. [1] to the case of a…
Vision-language models (VLM) excel at general understanding yet remain weak at dynamic spatial reasoning (DSR), i.e., reasoning about the evolvement of object geometry and relationship in 3D space over time, largely due to the scarcity of…
Unlike conventional cameras which capture video at a fixed frame rate, Dynamic Vision Sensors (DVS) record only changes in pixel intensity values. The output of DVS is simply a stream of discrete ON/OFF events based on the polarity of…
Humans are remarkably proficient at controlling their limbs and tools from a wide range of viewpoints and angles, even in the presence of optical distortions. In robotics, this ability is referred to as visual servoing: moving a tool or…
In this paper, we develop a robust efficient visual SLAM system that utilizes heterogeneous point and line features. By leveraging ORB-SLAM [1], the proposed system consists of stereo matching, frame tracking, local mapping, loop detection,…
Scene understanding from images is a challenging problem encountered in autonomous driving. On the object level, while 2D methods have gradually evolved from computing simple bounding boxes to delivering finer grained results like instance…
We propose a visual servoing method consisting of a detection network and a velocity trajectory planner. First, the detection network estimates the objects position and orientation in the image space. Furthermore, these are normalized and…
We present the method of Direct van der Waals simulation (DVS) to study computationally flows with liquid-vapor phase transformations. Our approach is based on a novel discretization of the Navier-Stokes-Korteweg equations, that couple flow…
Visual servoing techniques guide robotic motion using visual information to accomplish manipulation tasks, requiring high precision and robustness against noise. Traditional methods often require prior knowledge and are susceptible to…
Service robots have demonstrated significant potential for autonomous trolley collection and redistribution in public spaces like airports or warehouses to improve efficiency and reduce cost. Usually, a fully autonomous system for the…
In this work, we propose a purely geometrical approach for the robust matching of line segments for challenging stereo streams with severe illumination changes or High Dynamic Range (HDR) environments. To that purpose, we exploit the…
Multi-view geometry-based methods dominate the last few decades in monocular Visual Odometry for their superior performance, while they have been vulnerable to dynamic and low-texture scenes. More importantly, monocular methods suffer from…
We present Stable View Synthesis (SVS). Given a set of source images depicting a scene from freely distributed viewpoints, SVS synthesizes new views of the scene. The method operates on a geometric scaffold computed via…
In this work we present a monocular visual odometry (VO) algorithm which leverages geometry-based methods and deep learning. Most existing VO/SLAM systems with superior performance are based on geometry and have to be carefully designed for…
In this paper we propose a framework for integrating map-based relocalization into online direct visual odometry. To achieve map-based relocalization for direct methods, we integrate image features into Direct Sparse Odometry (DSO) and rely…
Adaptive navigation in unfamiliar environments is crucial for household service robots but remains challenging due to the need for both low-level path planning and high-level scene understanding. While recent vision-language model (VLM)…
Several video-based 3D pose and shape estimation algorithms have been proposed to resolve the temporal inconsistency of single-image-based methods. However it still remains challenging to have stable and accurate reconstruction. In this…