相关论文: 4-DoF Tracking for Robot Fine Manipulation Tasks

Visual servoing involves choosing actions that move a robot in response to observations from a camera, in order to reach a goal configuration in the world. Standard visual servoing approaches typically rely on manually designed features and…

This paper presents a -- Learning from Demonstration -- method to perform robot movement trajectories that can be defined as you go. This way unstructured tasks can be performed, without the need to know exactly all the tasks and start and…

Robust visual tracking is a challenging computer vision problem, with many real-world applications. Most existing approaches employ hand-crafted appearance features, such as HOG or Color Names. Recently, deep RGB features extracted from…

Understanding human-object interactions is fundamental in First Person Vision (FPV). Tracking algorithms which follow the objects manipulated by the camera wearer can provide useful cues to effectively model such interactions. Visual…

The precise motion control of a multi-degree of freedom~(DOF) robot manipulator is always challenging due to its nonlinear dynamics, disturbances, and uncertainties. Because most manipulators are controlled by digital signals, a novel…

Visual active tracking is a growing research topic in robotics due to its key role in applications such as human assistance, disaster recovery, and surveillance. In contrast to passive tracking, active tracking approaches combine vision and…

The growing need to automate processes in industrial settings has led to tremendous growth in the robotic systems and especially the robotic arms. The paper assumes the design, modeling and control of a robotic arm to suit industrial…

This work presents an approach for modelling and tracking previously unseen objects for robotic grasping tasks. Using the motion of objects in a scene, our approach segments rigid entities from the scene and continuously tracks them to…

Visual object tracking is a significant computer vision task which can be applied to many domains such as visual surveillance, human computer interaction, and video compression. In the literature, researchers have proposed a variety of 2D…

Vision-based target tracking is crucial for unmanned surface vehicles (USVs) to perform tasks such as inspection, monitoring, and surveillance. However, real-time tracking in complex maritime environments is challenging due to dynamic…

This paper addresses the problem of mobile robot manipulation using object detection. Our approach uses detection and control as complimentary functions that learn from real-world interactions. We develop an end-to-end manipulation method…

Accurate pose and velocity estimation is essential for effective spatial task planning in robotic manipulators. While centralized sensor fusion has traditionally been used to improve pose estimation accuracy, this paper presents a novel…

Point tracking aims to localize corresponding points across video frames, serving as a fundamental task for 4D reconstruction, robotics, and video editing. Existing methods commonly rely on shallow convolutional backbones such as ResNet…

A head tracker is a crucial part of the head mounted display systems, as it tracks the head of the pilot in the plane/cockpit simulator. The operational flaws of head trackers are also dependent on different environmental conditions like…

State estimation from measured data is crucial for robotic applications as autonomous systems rely on sensors to capture the motion and localize in the 3D world. Among sensors that are designed for measuring a robot's pose, or for soft…

We propose DINOBot, a novel imitation learning framework for robot manipulation, which leverages the image-level and pixel-level capabilities of features extracted from Vision Transformers trained with DINO. When interacting with a novel…

Tracking the 6D pose of objects in video sequences is important for robot manipulation. This task, however, introduces multiple challenges: (i) robot manipulation involves significant occlusions; (ii) data and annotations are troublesome…

We present a method that simultaneously addresses the tasks of dynamic scene novel-view synthesis and six degree-of-freedom (6-DOF) tracking of all dense scene elements. We follow an analysis-by-synthesis framework, inspired by recent work…

Dexterous manipulation of objects through fine control of physical contacts is essential for many important tasks of daily living. A fundamental ability underlying fine contact control is compliant control, \textit{i.e.}, controlling the…

Deformable object manipulation (DOM) for robots has a wide range of applications in various fields such as industrial, service and health care sectors. However, compared to manipulation of rigid objects, DOM poses significant challenges for…