相关论文: Direct Visual Servoing Based on Discrete Orthogona…
Exactly estimating and tracking the motion of surrounding dynamic objects is one of important tasks for the autonomy of a quadruped manipulator. However, with only an onboard RGB camera, it is still a challenging work for a quadruped…
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…
The Dynamic Vision Sensor (DVS) is an innovative technology that efficiently captures and encodes visual information in an event-driven manner. By combining it with event-driven neuromorphic processing, the sparsity in DVS camera output can…
Referring Video Object Segmentation (RVOS) requires segmenting specific objects in a video guided by a natural language description. The core challenge of RVOS is to anchor abstract linguistic concepts onto a specific set of pixels and…
Robots should understand both semantics and physics to be functional in the real world. While robot platforms provide means for interacting with the physical world they cannot autonomously acquire object-level semantics without needing…
Sparse query-based paradigms have achieved significant success in multi-view 3D detection for autonomous vehicles. Current research faces challenges in balancing between enlarging receptive fields and reducing interference when aggregating…
The use of Autonomous Surface Vessels (ASVs) is growing rapidly. For safe and efficient surface auto-driving, a reliable perception system is crucial. Such systems allow the vessels to sense their surroundings and make decisions based on…
Traditional monocular direct visual odometry (DVO) is one of the most famous methods to estimate the ego-motion of robots and map environments from images simultaneously. However, DVO heavily relies on high-quality images and accurate…
Medical image super-resolution (SR) is an active research area that has many potential applications, including reducing scan time, bettering visual understanding, increasing robustness in downstream tasks, etc. However, applying…
Vessel dynamics simulation is vital in studying the relationship between geometry and vascular disease progression. Reliable dynamics simulation relies on high-quality vascular meshes. Most of the existing mesh generation methods highly…
In the paper, we propose a robust real-time visual odometry in dynamic environments via rigid-motion model updated by scene flow. The proposed algorithm consists of spatial motion segmentation and temporal motion tracking. The spatial…
Omnidirectional multi-view stereo (MVS) vision is attractive for its ultra-wide field-of-view (FoV), enabling machines to perceive 360{\deg} 3D surroundings. However, the existing solutions require expensive dense depth labels for…
Super-resolution (SR) is a useful technology to generate a high-resolution (HR) visual output from the low-resolution (LR) visual inputs overcoming the physical limitations of the cameras. However, SR has not been applied to enhance the…
This paper presents a novel method for the reconstruction of high-resolution temporal images in dynamic tomographic imaging, particularly for discrete objects with smooth boundaries that vary over time. Addressing the challenge of limited…
Robust feature matching forms the backbone for most Visual Simultaneous Localization and Mapping (vSLAM), visual odometry, 3D reconstruction, and Structure from Motion (SfM) algorithms. However, recovering feature matches from texture-poor…
Due to possibly changing pose of a movable object and nonholonomic constraint of a differential-drive robot, it is challenging to design an object servoing scheme for the differential-drive robot to asymptotically park at a predefined…
When the nonconvex problem is complicated by stochasticity, the sample complexity of stochastic first-order methods may depend linearly on the problem dimension, which is undesirable for large-scale problems. In this work, we propose…
One of the main open challenges in visual odometry (VO) is the robustness to difficult illumination conditions or high dynamic range (HDR) environments. The main difficulties in these situations come from both the limitations of the sensors…
Utilizing perception for feedback control in combination with Dynamic Movement Primitive (DMP)-based motion generation for a robot's end-effector control is a useful solution for many robotic manufacturing tasks. For instance, while…
This paper presents a new method to synthesize an image from arbitrary views and times given a collection of images of a dynamic scene. A key challenge for the novel view synthesis arises from dynamic scene reconstruction where epipolar…