Related papers: Adaptive Visual Servoing for On-Orbit Servicing
Optical flow is a crucial component of the feature space for early visual processing of dynamic scenes especially in new applications such as self-driving vehicles, drones and autonomous robots. The dynamic vision sensors are well suited…
The vision of unmanned aerial vehicles is very significant for UAV-related applications such as search and rescue, landing on a moving platform, etc. In this work, we have developed an integrated system for the UAV landing on the moving…
Recently, learning-based robotic navigation systems have gained extensive research attention and made significant progress. However, the diversity of open-world scenarios poses a major challenge for the generalization of such systems to…
Warping-based video stabilizers smooth camera trajectory by constraining each pixel's displacement and warp stabilized frames from unstable ones accordingly. However, since the view outside the boundary is not available during warping, the…
Visual Odometry (VO) is a method to estimate self-motion of a mobile robot using visual sensors. Unlike odometry based on integrating differential measurements that can accumulate errors, such as inertial sensors or wheel encoders, visual…
Vision-based control systems, such as image-based visual servoing (IBVS), have been extensively explored for precise robot manipulation. A persistent challenge, however, is maintaining robust target tracking under partial or full…
Learning visuomotor control policies in robotic systems is a fundamental problem when aiming for long-term behavioral autonomy. Recent supervised-learning-based vision and motion perception systems, however, are often separately built with…
For intelligent quadcopter UAVs, a robust and reliable autonomous planning system is crucial. Most current trajectory planning methods for UAVs are suitable for static environments but struggle to handle dynamic obstacles, which can pose…
Orographic soaring can significantly extend the endurance of micro aerial vehicles (MAVs), but circling behavior, arising from control conflicts between the longitudinal and vertical axes, increases energy consumption and the risk of…
In this paper, we present a new robotic system to perform defect inspection tasks over free-form specular surfaces. The autonomous procedure is achieved by a six-DOF manipulator, equipped with a line scan camera and a high-intensity…
This paper presents an optic flow-guided approach for achieving soft landings by resource-constrained unmanned aerial vehicles (UAVs) on dynamic platforms. An offline data-driven linear model based on Koopman operator theory is developed to…
This paper demonstrates a visual servoing method which is robust towards uncertainties related to system calibration and grasping, while significantly reducing the peg-in-hole time compared to classical methods and recent attempts based on…
This paper addresses an optimal control problem for a robot that has to find and collect a finite number of objects and move them to a depot in minimum time. The robot has fourth-order dynamics that change instantaneously at any pick-up or…
Intelligent vision control systems for surgical robots should adapt to unknown and diverse objects while being robust to system disturbances. Previous methods did not meet these requirements due to mainly relying on pose estimation and…
To autonomously navigate in real-world environments, special in search and rescue operations, Unmanned Aerial Vehicles (UAVs) necessitate comprehensive maps to ensure safety. However, the prevalent metric map often lacks semantic…
The paper is concerned with the dynamic tracking problem of SNAP orchards harvesting robots in the presence of multiple uncalibrated model parameters in the application of dwarf culture orchards harvest. A new hybrid visual servoing…
We naturally step sideways or lean to see around the obstacle when our view is blocked, and recover a more informative observation. Enabling robots to make the same kind of viewpoint choice is critical for human-centered operations,…
During teleoperation of a mobile robot, providing good operator situation awareness is a major concern as a single mistake can lead to mission failure. Camera streams are widely used for teleoperation but offer limited field-of-view. In…
We present a collaborative visual simultaneous localization and mapping (SLAM) framework for service robots. With an edge server maintaining a map database and performing global optimization, each robot can register to an existing map,…
Small flying robots can perform landing maneuvers using bio-inspired optical flow by maintaining a constant divergence. However, optical flow is typically estimated from frame sequences recorded by standard miniature cameras. This requires…