Related papers: Adaptive Visual Servoing for On-Orbit Servicing
In everyday life collaboration tasks between human operators and robots, the former necessitate simple ways for programming new skills, the latter have to show adaptive capabilities to cope with environmental changes. The joint use of…
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…
Image-based visual servoing (IBVS) methods have been well developed and used in many applications, especially in pose (position and orientation) alignment. However, most research papers focused on developing control solutions when 3D point…
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.…
The advances in deep reinforcement learning recently revived interest in data-driven learning based approaches to navigation. In this paper we propose to learn viewpoint invariant and target invariant visual servoing for local mobile robot…
LiDAR-based 3D perception and localization on unmanned aerial vehicles (UAVs) are fundamentally limited by the narrow field of view (FoV) of compact LiDAR sensors and the payload constraints that preclude multi-sensor configurations.…
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…
Computer vision approaches are widely used by autonomous robotic systems to sense the world around them and to guide their decision making as they perform diverse tasks such as collision avoidance, search and rescue, and object…
In this paper, we propose a novel vision-based control algorithm for regulating the whole body shape of extensible multisection soft continuum manipulators. Contrary to existing vision-based control algorithms in the literature that…
In this study, we address the critical challenge of balancing speed and accuracy while maintaining interpretablity in visual odometry (VO) systems, a pivotal aspect in the field of autonomous navigation and robotics. Traditional VO systems…
This paper proposes a new approach to achieve direct visual servoing (DVS) based on discrete orthogonal moments (DOMs). DVS is performed in such a way that the extraction of geometric primitives, matching, and tracking steps in the…
We present KOVIS, a novel learning-based, calibration-free visual servoing method for fine robotic manipulation tasks with eye-in-hand stereo camera system. We train the deep neural network only in the simulated environment; and the trained…
Approaching a tumbling target safely is a critical challenge in space debris removal missions utilizing robotic manipulators onboard servicing satellites. In this work, we propose a trajectory planning method based on nonlinear optimization…
Visual servoing, the method of controlling robot motion through feedback from visual sensors, has seen significant advancements with the integration of optical flow-based methods. However, its application remains limited by inherent…
This paper presents a spectral domain registration-based visual servoing scheme that works on 3D point clouds. Specifically, we propose a 3D model/point cloud alignment method, which works by finding a global transformation between…
In this paper, we investigate the visual tracking problem for robotic systems without image-space velocity measurement, simultaneously taking into account the uncertainties of the camera model and the manipulator kinematics and dynamics. We…
The robustness of event cameras to high dynamic range and motion blur holds the potential to improve visual odometry systems in challenging environments. Although their high temporal resolution does not require synchronous processing, most…
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…
Laparoscopic Field of View (FOV) control is one of the most fundamental and important components in Minimally Invasive Surgery (MIS), nevertheless, the traditional manual holding paradigm may easily bring fatigue to surgical assistants, and…
When robots are able to see and respond to their surroundings, a whole new world of possibilities opens up. To bring these possibilities to life, the robotics industry is increasingly adopting camera-based vision systems, especially when a…