相关论文: Applications of Uncalibrated Image Based Visual Se…

Camera-to-robot (also known as eye-to-hand) calibration is a critical component of vision-based robot manipulation. Traditional marker-based methods often require human intervention for system setup. Furthermore, existing autonomous…

Visual servoing is fundamental to robotic applications, enabling precise positioning and control. However, applying it to textureless objects remains a challenge due to the absence of reliable visual features. Moreover, adverse visual…

Using Unmanned Aerial Vehicles (UAVs) to perform high-altitude manipulation tasks beyond just passive visual application can reduce the time, cost, and risk of human workers. Prior research on aerial manipulation has relied on either ground…

We propose a visual servoing method consisting of a detection network and a velocity trajectory planner. First, the detection network estimates the objects position and orientation in the image space. Furthermore, these are normalized and…

This paper proposes a visual-servoing method dedicated to grasping of daily-life objects. In order to obtain an affordable solution, we use a low-accurate robotic arm. Our method corrects errors by using an RGB-D sensor. It is based on SURF…

Existing deep learning based visual servoing approaches regress the relative camera pose between a pair of images. Therefore, they require a huge amount of training data and sometimes fine-tuning for adaptation to a novel scene.…

Traditional visual servoing methods suffer from serving between scenes from multiple perspectives, which humans can complete with visual signals alone. In this paper, we investigated how multi-perspective visual servoing could be solved…

With 3D sensing becoming cheaper, environment-aware and visually-guided robot arms capable of safely working in collaboration with humans will become common. However, a reliable calibration is needed, both for camera internal calibration,…

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…

A key challenge in scaling up robot learning to many skills and environments is removing the need for human supervision, so that robots can collect their own data and improve their own performance without being limited by the cost of…

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…

Visual servoing is a well-known task in robotics. However, there are still challenges when multiple visual sources are combined to accurately guide the robot or occlusions appear. In this paper we present a novel visual servoing approach…

Many industrial assembly tasks involve peg-in-hole like insertions with sub-millimeter tolerances which are challenging, even in highly calibrated robot cells. Visual servoing can be employed to increase the robustness towards uncertainties…

Visual Servoing has been effectively used to move a robot into specific target locations or to track a recorded demonstration. It does not require manual programming, but it is typically limited to settings where one demonstration maps to…

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…

Ophthalmic microsurgery is known to be a challenging operation, which requires very precise and dexterous manipulation. Image guided robot-assisted surgery (RAS) is a promising solution that brings significant improvements in outcomes and…

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…

Classical Image-Based Visual Servoing (IBVS) makes use of geometric image features like point, straight line and image moments to control a robotic system. Robust extraction and real-time tracking of these features are crucial to the…

With the high focus on autonomous aerial refueling recently, it becomes increasingly urgent to design efficient methods or algorithms to solve AAR problems in complicated aerial environments. Apart from the complex aerodynamic disturbance,…

Visual servoing enables robots to precisely position their end-effector relative to a target object. While classical methods rely on hand-crafted features and thus are universally applicable without task-specific training, they often…