Related papers: Dynamic Object Tracking for Quadruped Manipulator …
This paper presents an object manipulation strategy for the Variable Topology Truss (VTT) system, a truss robot that comprises actuated truss members connected by passive spherical joints. Although truss robots were originally proposed as…
Visual object tracking has seen significant progress in recent years. However, the vast majority of this work focuses on tracking objects within the image plane of a single camera and ignores the uncertainty associated with predicted object…
To precisely reach for an object with a humanoid robot, it is of central importance to have good knowledge of both end-effector, object pose and shape. In this work we propose a framework for markerless visual servoing on unknown objects,…
Due to the problem of performance constraints of unsupervised video object detection, its large-scale application is limited. In response to this pain point, we propose another excellent method to solve this problematic point. By…
Nowadays, with the continuous expansion of application scenarios of robotic arms, there are more and more scenarios where nonspecialist come into contact with robotic arms. However, in terms of robotic arm visual servoing, traditional…
Manipulating deformable objects arises in daily life and numerous applications. Despite phenomenal advances in industrial robotics, manipulation of deformable objects remains mostly a manual task. This is because of the high number of…
The accurate visual tracking of a moving object is a human fundamental skill that allows to reduce the relative slip and instability of the object's image on the retina, thus granting a stable, high-quality vision. In order to optimize…
While both navigation and manipulation are challenging topics in isolation, many tasks require the ability to both navigate and manipulate in concert. To this end, we propose a mobile manipulation system that leverages novel navigation and…
The simplicity of the visual servoing approach makes it an attractive option for tasks dealing with vision-based control of robots in many real-world applications. However, attaining precise alignment for unseen environments pose a…
Object tracking is the cornerstone of many visual analytics systems. While considerable progress has been made in this area in recent years, robust, efficient, and accurate tracking in real-world video remains a challenge. In this paper, we…
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,…
Combining Simultaneous Localisation and Mapping (SLAM) estimation and dynamic scene modelling can highly benefit robot autonomy in dynamic environments. Robot path planning and obstacle avoidance tasks rely on accurate estimations of the…
Estimating the 6D pose of objects is beneficial for robotics tasks such as transportation, autonomous navigation, manipulation as well as in scenarios beyond robotics like virtual and augmented reality. With respect to single image pose…
The problem of image-based visual servoing (IBVS) of an aerial robot using deep-learning-based keypoint detection is addressed in this article. A monocular RGB camera mounted on the platform is utilized to collect the visual data. A…
We address the problem of tracking the 6-DoF pose of an object while it is being manipulated by a human or a robot. We use a dynamic Bayesian network to perform inference and compute a posterior distribution over the current object pose.…
Visual tracking fundamentally involves regressing the state of the target in each frame of a video. Despite significant progress, existing regression-based trackers still tend to experience failures and inaccuracies. To enhance the…
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…
Dynamic Object-aware SLAM (DOS) exploits object-level information to enable robust motion estimation in dynamic environments. Existing methods mainly focus on identifying and excluding dynamic objects from the optimization. In this paper,…
In this paper, we present a general approach to automatically visual-servo control the position and shape of a deformable object whose deformation parameters are unknown. The servo-control is achieved by online learning a model mapping…
In many applications of advanced robotic manipulation, six degrees of freedom (6DoF) object pose estimates are continuously required. In this work, we develop a multi-modality tracker that fuses information from visual appearance and…