相关论文: Neuromorphic Eye-in-Hand Visual Servoing
Tactile servoing is an important technique because it enables robots to manipulate objects with precision and accuracy while adapting to changes in their environments in real-time. One approach for tactile servo control with high-resolution…
In this paper, we present a general learning-based framework to automatically visual-servo control the position and shape of a deformable object with unknown deformation parameters. The servo-control is accomplished by learning a feedback…
Event cameras, or Dynamic Vision Sensors (DVS) are novel neuromorphic sensors that capture brightness changes as a continuous stream of "events" rather than traditional intensity frames. Converting sparse events to dense intensity frames…
Event cameras are a new type of vision sensor that incorporates asynchronous and independent pixels, offering advantages over traditional frame-based cameras such as high dynamic range and minimal motion blur. However, their output is not…
Event-based cameras are dynamic vision sensors that provide asynchronous measurements of changes in per-pixel brightness at a microsecond level. This makes them significantly faster than conventional frame-based cameras, and an appealing…
Aiming at the difficulty of extracting image features and estimating the Jacobian matrix in image based visual servo, this paper proposes an image based visual servo approach with deep learning. With the powerful learning capabilities of…
Existing approaches for visuomotor robotic control typically require characterizing the robot in advance by calibrating the camera or performing system identification. We propose MAVRIC, an approach that works with minimal prior knowledge…
One-shot imitation is the vision of robot programming from a single demonstration, rather than by tedious construction of computer code. We present a practical method for realizing one-shot imitation for manipulation tasks, exploiting…
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…
Manipulation of deformable objects, such as ropes and cloth, is an important but challenging problem in robotics. We present a learning-based system where a robot takes as input a sequence of images of a human manipulating a rope from an…
Active vision enables dynamic visual perception, offering an alternative to static feedforward architectures in computer vision, which rely on large datasets and high computational resources. Biological selective attention mechanisms allow…
We consider the task of semi-supervised video object segmentation (VOS). Our approach mitigates shortcomings in previous VOS work by addressing detail preservation and temporal consistency using visual warping. In contrast to prior work…
Robot-to-human object handover is an important step in many human robot collaboration tasks. A successful handover requires the robot to maintain a stable grasp on the object while making sure the human receives the object in a natural and…
This study explores the potential of neuromorphic Event-Based Vision (EBV) cameras for data-efficient representation of low-order model coordinates in turbulent flows. Unlike conventional imaging systems, EBV cameras asynchronously capture…
Quasi-bimodal objects, such as text, road signs, and barcodes, play a basic yet vital role in daily visual communication. By boiling these down to clear silhouettes, binarization uses a minimal language to convey essential vision cues for…
Vision-based interception using multicopters equipped strapdown camera is challenging due to camera-motion coupling and evasive targets. This paper proposes a method integrating Image-Based Visual Servoing (IBVS) with proportional…
Dynamic Vision Sensor (DVS)-based solutions have recently garnered significant interest across various computer vision tasks, offering notable benefits in terms of dynamic range, temporal resolution, and inference speed. However, as a…
Event cameras also known as neuromorphic sensors are relatively a new technology with some privilege over the RGB cameras. The most important one is their difference in capturing the light changes in the environment, each pixel changes…
One of the challenging input settings for visual servoing is when the initial and goal camera views are far apart. Such settings are difficult because the wide baseline can cause drastic changes in object appearance and cause occlusions.…
Planning contact interactions is one of the core challenges of many robotic tasks. Optimizing contact locations while taking dynamics into account is computationally costly and, in environments that are only partially observable, executing…