相关论文: Fast robust peg-in-hole insertion with continuous …

Recognizing various surgical tools, actions and phases from surgery videos is an important problem in computer vision with exciting clinical applications. Existing deep-learning-based methods for this problem either process each surgical…

The welding seams visual inspection is still manually operated by humans in different companies, so the result of the test is still highly subjective and expensive. At present, the integration of deep learning methods for welds…

Visual Teach-and-Repeat Navigation is a direct solution for mobile robot to be deployed in unknown environments. However, robust trajectory repeat navigation still remains challenged due to environmental changing and dynamic objects. In…

Recent advances in imitation learning have shown significant promise for robotic control and embodied intelligence. However, achieving robust generalization across diverse mounted camera observations remains a critical challenge. In this…

Visual Odometry (VO) is essential to downstream mobile robotics and augmented/virtual reality tasks. Despite recent advances, existing VO methods still rely on heuristic design choices that require several weeks of hyperparameter tuning by…

While deep learning surpasses human-level performance in narrow and specific vision tasks, it is fragile and over-confident in classification. For example, minor transformations in perspective, illumination, or object deformation in the…

The field of steganography has experienced a surge of interest due to the recent advancements in AI-powered techniques, particularly in the context of multimodal setups that enable the concealment of signals within signals of a different…

Visual Servoing (VS), where images taken from a camera typically attached to the robot end-effector are used to guide the robot motions, is an important technique to tackle robotic tasks that require a high level of accuracy. We propose a…

For VSLAM (Visual Simultaneous Localization and Mapping), localization is a challenging task, especially for some challenging situations: textureless frames, motion blur, etc.. To build a robust exploration and localization system in a…

Videos are a popular media form, where online video streaming has recently gathered much popularity. In this work, we propose a novel method of real-time video stabilization - transforming a shaky video to a stabilized video as if it were…

Video super-resolution (VSR) aims to reconstruct a sequence of high-resolution (HR) images from their corresponding low-resolution (LR) versions. Traditionally, solving a VSR problem has been based on iterative algorithms that can exploit…

Planning a motion for inserting pegs remains an open problem. The difficulty lies in both the inevitable errors in the grasps of a robotic hand and absolute precision problems in robot joint motors. This paper proposes an integral method to…

Recent advances in deep learning and computer vision offer an excellent opportunity to investigate high-level visual analysis tasks such as human localization and human pose estimation. Although the performance of human localization and…

Accurate camera-to-robot calibration is essential for any vision-based robotic control system and especially critical in minimally invasive surgical robots, where instruments conduct precise micro-manipulations. However, MIS robots have…

This paper improves visual-inertial systems to boost the localization accuracy for low-cost rescue robots. When robots traverse on rugged terrain, the performance of pose estimation suffers from big noise on the measurements of the inertial…

Generalization is important for peg-in-hole assembly, a fundamental industrial operation, to adapt to dynamic industrial scenarios and enhance manufacturing efficiency. While prior work has enhanced generalization ability for pose…

In order for a robot to be a generalist that can perform a wide range of jobs, it must be able to acquire a wide variety of skills quickly and efficiently in complex unstructured environments. High-capacity models such as deep neural…

Polynomial regression is a recurrent problem with a large number of applications. In computer vision it often appears in motion analysis. Whatever the application, standard methods for regression of polynomial models tend to deliver biased…

Due to the challenges of processing temporal information, most trackers depend solely on visual discriminability and overlook the unique temporal coherence of video data. In this paper, we propose a lightweight and plug-and-play motion…

Multi-View Photometric Stereo (MVPS) is a popular method for fine-detailed 3D acquisition of an object from images. Despite its outstanding results on diverse material objects, a typical MVPS experimental setup requires a well-calibrated…