Related papers: Geometric Visual Servo Via Optimal Transport
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…
Visual imitation learning provides efficient and intuitive solutions for robotic systems to acquire novel manipulation skills. However, simultaneously learning geometric task constraints and control policies from visual inputs alone remains…
The manufacturing industry is currently witnessing a paradigm shift with the unprecedented adoption of industrial robots, and machine vision is a key perception technology that enables these robots to perform precise operations in…
High-precision tiny object alignment remains a common and critical challenge for humanoid robots in real-world. To address this problem, this paper proposes a vision-based framework for precisely estimating and controlling the relative…
This paper presents an image-based visual servo control (IBVS) method for a first-person-view (FPV) quadrotor to conduct aggressive aerial tracking. There are three major challenges to maneuvering an underactuated vehicle using IBVS: (i)…
Learning to solve precision-based manipulation tasks from visual feedback using Reinforcement Learning (RL) could drastically reduce the engineering efforts required by traditional robot systems. However, performing fine-grained motor…
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 \textsc{Mutual Visibility} is a well-known problem in the context of mobile robots. For a set of $n$ robots disposed in the Euclidean plane, it asks for moving the robots without collisions so as to achieve a placement ensuring that no…
3D-aware visual pretraining has proven effective in improving the performance of downstream robotic manipulation tasks. However, existing methods are constrained to Euclidean embedding spaces, whose flat geometry limits their ability to…
This paper addresses the problem of enabling a robot to represent and recreate visual information through physical motion, focusing on drawing using pens, brushes, or other tools. This work uses ergodicity as a control objective that…
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…
Visual servoing enables robotic systems to perform accurate closed-loop control, which is required in many applications. However, existing methods either require precise calibration of the robot kinematic model and cameras or use neural…
This paper presents a differential geometric control approach that leverages SE(3) group invariance and equivariance to increase transferability in learning robot manipulation tasks that involve interaction with the environment.…
We introduce a novel formulation for incorporating visual feedback in controlling robots. We define a generative model from actions to image observations of features on the end-effector. Inference in the model allows us to infer the robot…
The dominant visual servoing approaches in Minimally Invasive Surgery (MIS) follow single points or adapt the endoscope's field of view based on the surgical tools' distance. These methods rely on point positions with respect to the camera…
We present a robust markerless image based visual servoing method that enables precision robot control without hand-eye and camera calibrations in 1, 3, and 5 degrees-of-freedom. The system uses two cameras for observing the workspace and a…
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…
Vision based object grasping and manipulation in robotics require accurate estimation of object's 6D pose. The 6D pose estimation has received significant attention in computer vision community and multiple datasets and evaluation metrics…
While Visual Servoing is deeply studied to perform simple maneuvers, the literature does not commonly address complex cases where the target is far out of the camera's field of view (FOV) during the maneuver. For this reason, in this paper,…
This draft summarizes some basics about geometric computer vision needed to implement efficient computer vision algorithms for applications that use measurements from at least one digital camera mounted on a moving platform with a special…