相关论文: Hybrid Multi-camera Visual Servoing to Moving Targ…
The use of robotic technology has drastically increased in manufacturing in the 21st century. But by utilizing their sensory cues, humans still outperform machines, especially in micro scale manufacturing, which requires high-precision…
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…
Researchers and robotic development groups have recently started paying special attention to autonomous mobile robot navigation in indoor environments using vision sensors. The required data is provided for robot navigation and object…
Visual servoing is fundamental to robotic applications, enabling precise positioning and control. However, applying it to textureless objects remains a challenge due to the absence of reliable visual features. Moreover, adverse visual…
Efficient motion intent communication is necessary for safe and collaborative work environments with collocated humans and robots. Humans efficiently communicate their motion intent to other humans through gestures, gaze, and social cues.…
Comprehensive perception of human beings is the prerequisite to ensure the safety of human-robot interaction. Currently, prevailing visual sensing approach typically involves a single static camera, resulting in a restricted and occluded…
Multi-instance scenes are especially challenging for end-to-end visuomotor (image-to-control) learning algorithms. "Pipeline" visual servo control algorithms use separate detection, selection and servo stages, allowing algorithms to focus…
Robotic manipulation in complex scenes demands precise perception of task-relevant details, yet fixed or suboptimal viewpoints often impair fine-grained perception and induce occlusions, constraining imitation-learned policies. We present…
Using Unmanned Aerial Vehicles (UAVs) to perform high-altitude manipulation tasks beyond just passive visual application can reduce the time, cost, and risk of human workers. Prior research on aerial manipulation has relied on either ground…
This paper introduces and evaluates a hybrid technique that fuses efficiently the eye-tracking principles of photosensor oculography (PSOG) and video oculography (VOG). The main concept of this novel approach is to use a few fast and…
Monocular cameras coupled with inertial measurements generally give high performance visual inertial odometry. However, drift can be significant with long trajectories, especially when the environment is visually challenging. In this paper,…
On-orbit servicing (OOS) activities will power the next big step for sustainable exploration and commercialization of space. Developing robotic capabilities for autonomous OOS operations is a priority for the space industry. Visual Servoing…
The machine vision systems have been playing a significant role in visual monitoring systems. With the help of stereovision and machine learning, it will be able to mimic human-like visual system and behaviour towards the environment. In…
This paper presents an adaptive visual servoing framework for robotic on-orbit servicing (OOS), specifically designed for capturing tumbling satellites. The vision-guided robotic system is capable of selecting optimal control actions in the…
We present a general framework for accurate positioning of sensors and end effectors in farm settings using a camera mounted on a robotic manipulator. Our main contribution is a visual servoing approach based on a new and robust feature…
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…
Rather than having each newly deployed robot create its own map of its surroundings, the growing availability of SLAM-enabled devices provides the option of simply localizing in a map of another robot or device. In cases such as multi-robot…
Humans throw and catch objects all the time. However, such a seemingly common skill introduces a lot of challenges for robots to achieve: The robots need to operate such dynamic actions at high-speed, collaborate precisely, and interact…
Towards the goal of robots performing robust and intelligent physical interactions with people, it is crucial that robots are able to accurately sense the human body, follow trajectories around the body, and track human motion. This study…
Reliably planning fingertip grasps for multi-fingered hands lies as a key challenge for many tasks including tool use, insertion, and dexterous in-hand manipulation. This task becomes even more difficult when the robot lacks an accurate…