相关论文: Visual Servoing for Pose Control of Soft Continuum…

The visual simultaneous localization and mapping(vSLAM) is widely used in GPS-denied and open field environments for ground and surface robots. However, due to the frequent perception failures derived from lacking visual texture or the…

The problem of image-based visual servoing (IBVS) of an aerial robot using deep-learning-based keypoint detection is addressed in this article. A monocular RGB camera mounted on the platform is utilized to collect the visual data. A…

Swarm robots have sparked remarkable developments across a range of fields. While it is necessary for various applications in swarm robots, a fast and robust coordinate initialization in vision-based drone swarms remains elusive. To this…

Visual localization for planar moving robot is important to various indoor service robotic applications. To handle the textureless areas and frequent human activities in indoor environments, a novel robust visual localization algorithm…

The vast majority of visual animals actively control their eyes, heads, and/or bodies to direct their gaze toward different parts of their environment. In contrast, recent applications of reinforcement learning in robotic manipulation…

This paper proposes a new approach to achieve direct visual servoing (DVS) based on discrete orthogonal moments (DOMs). DVS is performed in such a way that the extraction of geometric primitives, matching, and tracking steps in the…

This paper describes the integration of weighted delay-and-sum beamforming with speech source localization using image processing and robot head visual servoing for source tracking. We take into consideration the fact that the directivity…

In this work, we propose a new head-tracking solution for human-machine real-time interaction with virtual 3D environments. This solution leverages RGBD data to compute virtual camera pose according to the movements of the user's head. The…

Visual servoing technology has been well developed and applied in many automated manufacturing tasks, especially in tools' pose alignment. To access a full global view of tools, most applications adopt eye-to-hand configuration or…

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…

Pneumatic soft robots present many advantages in manipulation tasks. Notably, their inherent compliance makes them safe and reliable in unstructured and fragile environments. However, full-body shape sensing for pneumatic soft robots is…

Autonomy in robotic surgery is very challenging in unstructured environments, especially when interacting with deformable soft tissues. The main difficulty is to generate model-based control methods that account for deformation dynamics…

The robotic manipulation of compliant objects is currently one of the most active problems in robotics due to its potential to automate many important applications. Despite the progress achieved by the robotics community in recent years,…

In active Visual-SLAM (V-SLAM), a robot relies on the information retrieved by its cameras to control its own movements for autonomous mapping of the environment. Cameras are usually statically linked to the robot's body, limiting the extra…

Accurate localization in diverse environments is a fundamental challenge in computer vision and robotics. The task involves determining a sensor's precise position and orientation, typically a camera, within a given space. Traditional…

Providing force feedback as relevant information in current Robot-Assisted Minimally Invasive Surgery systems constitutes a technological challenge due to the constraints imposed by the surgical environment. In this context, Sensorless…

In order to explore robotic grasping in unstructured and dynamic environments, this work addresses the visual perception phase involved in the task. This phase involves the processing of visual data to obtain the location of the object to…

This work addresses the problem of designing a visual servo controller for a multirotor vehicle, with the end goal of tracking a moving spherical target with unknown radius. To address this problem, we first transform two bearing…

The robotic manipulation of deformable linear objects has shown great potential in a wide range of real-world applications. However, it presents many challenges due to the objects' complex nonlinearity and high-dimensional configuration. In…

The ability to accurately reconstruct the 3D facets of a scene is one of the key problems in robotic vision. However, even with recent advances with machine learning, there is no high-fidelity universal 3D reconstruction method for this…