相关论文: DFBVS: Deep Feature-Based Visual Servo

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…

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…

Latent representations are critical for the performance and robustness of machine learning models, as they encode the essential features of data in a compact and informative manner. However, in vision tasks, these representations are often…

We present a novel lens technique to support the identification of heterogeneous features in direct volume rendering (DVR) visualizations. In contrast to data-centric transfer function (TF) design, our image-driven approach enables users to…

As the foundation of driverless vehicle and intelligent robots, Simultaneous Localization and Mapping(SLAM) has attracted much attention these days. However, non-geometric modules of traditional SLAM algorithms are limited by data…

Vision-based control provides a significant potential for the end-point positioning of continuum robots under physical sensing limitations. Traditional visual servoing requires feature extraction and tracking followed by full or partial…

This paper considers the final approach phase of visual-closed-loop grasping where the RGB-D camera is no longer able to provide valid depth information. Many current robotic grasping controllers are not closed-loop and therefore fail for…

In this paper, we present a novel visual servoing (VS) approach based on latent Denoising Diffusion Probabilistic Models (DDPMs), that explores the application of generative models for vision-based navigation of UAVs (Uncrewed Aerial…

This paper introduces an innovative keypoint detection technique based on Convolutional Neural Networks (CNNs) to enhance the performance of existing Deep Visual Servoing (DVS) models. To validate the convergence of the Image-Based Visual…

We present a deep neural network-based method to perform high-precision, robust and real-time 6 DOF visual servoing. The paper describes how to create a dataset simulating various perturbations (occlusions and lighting conditions) from a…

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,…

Volume Rendering is an important technique for visualizing three-dimensional scalar data grids and is commonly employed for scientific and medical image data. Direct Volume Rendering (DVR) is a well established and efficient rendering…

Deep Reinforcement Learning has shown significant progress in extracting useful representations from high-dimensional inputs albeit using hand-crafted auxiliary tasks and pseudo rewards. Automatically learning such representations in an…

Visual foresight gives an agent a window into the future, which it can use to anticipate events before they happen and plan strategic behavior. Although impressive results have been achieved on video prediction in constrained settings,…

Unsupervised learning of object-centric representations in dynamic visual scenes is challenging. Unlike most previous approaches that learn to decompose 2D images, we present DynaVol, a 3D scene generative model that unifies geometric…

This paper presents a comprehensive survey on vision-based robotic grasping. We conclude three key tasks during vision-based robotic grasping, which are object localization, object pose estimation and grasp estimation. In detail, the object…

Visual servoing, the method of controlling robot motion through feedback from visual sensors, has seen significant advancements with the integration of optical flow-based methods. However, its application remains limited by inherent…

In this work, we present a deep reinforcement learning based method to solve the problem of robotic grasping using visio-motor feedback. The use of a deep learning based approach reduces the complexity caused by the use of hand-designed…

Visual odometry (VO) is a prevalent way to deal with the relative localization problem, which is becoming increasingly mature and accurate, but it tends to be fragile under challenging environments. Comparing with classical geometry-based…

Face recognition (FR) systems for video surveillance (VS) applications attempt to accurately detect the presence of target individuals over a distributed network of cameras. In video-based FR systems, facial models of target individuals are…