相关论文: Visual Servoing from Deep Neural Networks

We present a scheme for fast environment light estimation from the RGBD appearance of individual objects and their local image areas. Conventional inverse rendering is too computationally demanding for real-time applications, and the…

A significant challenge for real-world robotic manipulation is the effective 6DoF grasping of objects in cluttered scenes from any single viewpoint without the need for additional scene exploration. This work reinterprets grasping as…

In recent years, various shadow detection methods from a single image have been proposed and used in vision systems; however, most of them are not appropriate for the robotic applications due to the expensive time complexity. This paper…

An accurate understanding of a self-driving vehicle's surrounding environment is crucial for its navigation system. To enhance the effectiveness of existing algorithms and facilitate further research, it is essential to provide…

Accurate environment perception is essential for automated driving. When using monocular cameras, the distance estimation of elements in the environment poses a major challenge. Distances can be more easily estimated when the camera…

Knowledge of interaction forces during teleoperated robot-assisted surgery could be used to enable force feedback to human operators and evaluate tissue handling skill. However, direct force sensing at the end-effector is challenging…

Global localisation from visual data is a challenging problem applicable to many robotics domains. Prior works have shown that neural networks can be trained to map images of an environment to absolute camera pose within that environment,…

This paper introduces a novel multi-view 6 DoF object pose refinement approach focusing on improving methods trained on synthetic data. It is based on the DPOD detector, which produces dense 2D-3D correspondences between the model vertices…

The primary challenge in computer vision is precisely calculating the pose of 6D objects, however many current approaches are still fragile and have trouble generalizing from synthetic data to real-world situations with fluctuating…

We present a virtual image refocusing method over an extended depth of field (DOF) enabled by cascaded neural networks and a double-helix point-spread function (DH-PSF). This network model, referred to as W-Net, is composed of two cascaded…

We show how to train a fully convolutional neural network to perform inverse rendering from a single, uncontrolled image. The network takes an RGB image as input, regresses albedo and normal maps from which we compute lighting coefficients.…

Accurate 6D object pose estimation is an important task for a variety of robotic applications such as grasping or localization. It is a challenging task due to object symmetries, clutter and occlusion, but it becomes more challenging when…

In many computer vision domains, the input images must conform with the pinhole camera model, where straight lines in the real world are projected as straight lines in the image. Performing computer vision tasks on live sports broadcast…

An accurate and robust large-scale localization system is an integral component for active areas of research such as autonomous vehicles and augmented reality. To this end, many learning algorithms have been proposed that predict 6DOF…

Rotation estimation of high precision from an RGB-D object observation is a huge challenge in 6D object pose estimation, due to the difficulty of learning in the non-linear space of SO(3). In this paper, we propose a novel rotation…

Deep Convolutional Neural Networks (CNNs) have been successfully deployed on robots for 6-DoF object pose estimation through visual perception. However, obtaining labeled data on a scale required for the supervised training of CNNs is a…

Visual localization is the problem of estimating a camera within a scene and a key component in computer vision applications such as self-driving cars and Mixed Reality. State-of-the-art approaches for accurate visual localization use…

Solving the camera-to-robot pose is a fundamental requirement for vision-based robot control, and is a process that takes considerable effort and cares to make accurate. Traditional approaches require modification of the robot via markers,…

Visual navigation is essential for many applications in robotics, from manipulation, through mobile robotics to automated driving. Deep reinforcement learning (DRL) provides an elegant map-free approach integrating image processing,…

We present a novel deep learning based technique for volumetric ambient occlusion in the context of direct volume rendering. Our proposed Deep Volumetric Ambient Occlusion (DVAO) approach can predict per-voxel ambient occlusion in…