相关论文: Neuromorphic Eye-in-Hand Visual Servoing
Robotic eye-in-hand calibration is the task of determining the rigid 6-DoF pose of the camera with respect to the robot end-effector frame. In this paper, we formulate this task as a non-linear optimization problem and introduce an active…
We present a novel method for collaborative robots (cobots) to learn manipulation tasks and perform them in a human-like manner. Our method falls under the learn-from-observation (LfO) paradigm, where robots learn to perform tasks by…
Event sensors offer high temporal resolution visual sensing, which makes them ideal for perceiving fast visual phenomena without suffering from motion blur. Certain applications in robotics and vision-based navigation require 3D perception…
We present a method for real-time stereo scene capture and remote VR visualization that allows a human operator to freely move their head and thus intuitively control their perspective during teleoperation. The stereo camera is mounted on a…
Recognizing and comprehending human actions and gestures is a crucial perception requirement for robots to interact with humans and carry out tasks in diverse domains, including service robotics, healthcare, and manufacturing. Event…
Event cameras are neuromorphic vision sensors that record a scene as sparse and asynchronous event streams. Most event-based methods project events into dense frames and process them using conventional vision models, resulting in high…
Today robots must be safe, versatile, and user-friendly to operate in unstructured and human-populated environments. Dynamical system-based imitation learning enables robots to perform complex tasks stably and without explicit programming,…
Event cameras open up new possibilities for robotic perception due to their low latency and high dynamic range. On the other hand, developing effective event-based vision algorithms that fully exploit the beneficial properties of event…
Utilizing perception for feedback control in combination with Dynamic Movement Primitive (DMP)-based motion generation for a robot's end-effector control is a useful solution for many robotic manufacturing tasks. For instance, while…
We present a data-driven approach for 4D space-time visualization of dynamic events from videos captured by hand-held multiple cameras. Key to our approach is the use of self-supervised neural networks specific to the scene to compose…
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…
Contrary to conventional frame-based imaging, event-based vision (EBV) or dynamic vision sensing (DVS) asynchronously records binary signals of intensity changes for given pixels with microsecond resolution. The present work explores the…
Neuromorphic vision sensing (NVS)\ devices represent visual information as sequences of asynchronous discrete events (a.k.a., "spikes") in response to changes in scene reflectance. Unlike conventional active pixel sensing (APS), NVS allows…
The paper focuses on an immersive teleoperation system that enhances operator's ability to actively perceive the robot's surroundings. A consumer-grade HTC Vive VR system was used to synchronize the operator's hand and head movements with a…
Well structured visual representations can make robot learning faster and can improve generalization. In this paper, we study how we can acquire effective object-centric representations for robotic manipulation tasks without human labeling…
Visual object tracking under challenging conditions of motion and light can be hindered by the capabilities of conventional cameras, prone to producing images with motion blur. Event cameras are novel sensors suited to robustly perform…
Robot-to-human object handover is an essential skill for robot assistants, from serving drinks at home to passing surgical tools in the operating room. We expect robots to perform handover robustly -- to release the object only after a firm…
Event cameras, or Dynamic Vision Sensor (DVS), are very promising sensors which have shown several advantages over frame based cameras. However, most recent work on real applications of these cameras is focused on 3D reconstruction and…
Neuromorphic event cameras possess superior temporal resolution, power efficiency, and dynamic range compared to traditional cameras. However, their asynchronous and sparse data format poses a significant challenge for conventional deep…