相关论文: Self-supervised deep visual servoing for high prec…
This paper proposes a method to automatically detect the key feature parts in a CAD of commercial TV and monitor using a deep neural network. We developed a deep learning pipeline that can detect the injection parts such as hook, boss,…
Delicate industrial insertion tasks (e.g., PC board assembly) remain challenging for industrial robots. The challenges include low error tolerance, delicacy of the components, and large task variations with respect to the components to be…
The use of fluorescent molecules to create long sequences of low-density, diffraction-limited images enables highly-precise molecule localization. However, this methodology requires lengthy imaging times, which limits the ability to view…
This paper presents a hardware-in-the-loop (HIL) verification system for intelligent, camera-based in-body medical devices. A case study of a Video Capsule Endoscopy (VCE) prototype is used to illustrate the system's functionality. The…
This paper provides a novel approach to stitching surface images of rotationally symmetric parts. It presents a process pipeline that uses a feature-based stitching approach to create a distortion-free and true-to-life image from a video…
In this paper we present a novel visual servoing framework to control a robotic manipulator in the configuration space by using purely natural visual features. Our goal is to develop methods that can robustly detect and track natural…
This paper presents an adaptive visual servoing framework for robotic on-orbit servicing (OOS), specifically designed for capturing tumbling satellites. The vision-guided robotic system is capable of selecting optimal control actions in the…
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…
The accurate modeling of real-world systems and physical interactions is a common challenge towards the resolution of robotics tasks. Machine learning approaches have demonstrated significant results in the modeling of complex systems…
In this work, we present an effective multi-view approach to closed-loop end-to-end learning of precise manipulation tasks that are 3D in nature. Our method learns to accomplish these tasks using multiple statically placed but uncalibrated…
We present algorithms and results for a robotic manipulation system that was designed to be easily programmable and adaptable to various tasks common to industrial setting, which is inspired by the Industrial Assembly Challenge at the 2018…
This work presents the dual benefit of integrating imitation learning techniques, based on the dynamical systems formalism, with the visual servoing paradigm. On the one hand, dynamical systems allow to program additional skills without…
Despite the widespread adoption of industrial robots in automotive assembly, wire harness installation remains a largely manual process, as it requires precise and flexible manipulation. To address this challenge, we design a novel AI-based…
Robotic-assisted Minimally Invasive Surgery (RMIS) can benefit from the automation of common, repetitive or well-defined but ergonomically difficult tasks. One such task is the scanning of a pick-up endomicroscopy probe over a complex,…
Accurate and reliable positioning is crucial for perception, decision-making, and other high-level applications in autonomous driving, unmanned aerial vehicles, and intelligent robots. Given the inherent limitations of standalone sensors,…
Vision-based control systems, such as image-based visual servoing (IBVS), have been extensively explored for precise robot manipulation. A persistent challenge, however, is maintaining robust target tracking under partial or full…
Robot manipulation requires a complex set of skills that need to be carefully combined and coordinated to solve a task. Yet, most ReinforcementLearning (RL) approaches in robotics study tasks which actually consist only of a single…
Visual-inertial sensors have a wide range of applications in robotics. However, good performance often requires different sophisticated motion routines to accurately calibrate camera intrinsics and inter-sensor extrinsics. This work…
Robotic platforms provide consistent and precise tool positioning that significantly enhances retinal microsurgery. Integrating such systems with intraoperative optical coherence tomography (iOCT) enables image-guided robotic interventions,…
Dynamic Gaussian splatting has led to impressive scene reconstruction and image synthesis advances in novel views. Existing methods, however, heavily rely on pre-computed poses and Gaussian initialization by Structure from Motion (SfM)…