相关论文: Autonomous Field-of-View Adjustment Using Adaptive…
We design a multiscopic vision system that utilizes a low-cost monocular RGB camera to acquire accurate depth estimation for robotic applications. Unlike multi-view stereo with images captured at unconstrained camera poses, the proposed…
Camera calibration is a crucial step in robotics and computer vision. Accurate camera parameters are necessary to achieve robust applications. Nowadays, camera calibration process consists of adjusting a set of data to a pin-hole model,…
Visual-inertial-odometry has attracted extensive attention in the field of autonomous driving and robotics. The size of Field of View (FoV) plays an important role in Visual-Odometry (VO) and Visual-Inertial-Odometry (VIO), as a large FoV…
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 novel vision-based control method to make a group of ground mobile robots achieve a specified formation shape with unspecified size. Our approach uses multiple aerial control units equipped with downward-facing cameras, each…
This study seeks to automate camera movement control for filming existing subjects into attractive videos, contrasting with the creation of non-existent content by directly generating the pixels. We select drone videos as our test case due…
Robotic manipulation in complex scenes demands precise perception of task-relevant details, yet fixed or suboptimal viewpoints often impair fine-grained perception and induce occlusions, constraining imitation-learned policies. We present…
The use of robotic technology has drastically increased in manufacturing in the 21st century. But by utilizing their sensory cues, humans still outperform machines, especially in micro scale manufacturing, which requires high-precision…
Occlusions caused by a robot's own body is a common problem for closed-loop control methods employed in eye-to-hand camera setups. We propose an optimization-based reactive controller that minimizes self-occlusions while achieving a desired…
Vector fields are advantageous in handling nonholonomic motion planning as they provide reference orientation for robots. However, additionally incorporating curvature constraints becomes challenging, due to the interconnection between the…
Robotic autonomy at centimeter scale requires compact and miniaturization-friendly actuation integrated with sensing and neural network processing assembly within a tiny form factor. Applications of such systems have witnessed significant…
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…
Robotic vision plays a major role in factory automation to service robot applications. However, the traditional use of frame-based camera sets a limitation on continuous visual feedback due to their low sampling rate and redundant data in…
We investigate how robotic camera systems can offer new capabilities to computer-supported cooperative work through the design, development, and evaluation of a prototype system called Periscope. With Periscope, a local worker completes…
Controlling the shape of deformable linear objects using robots and constraints provided by environmental fixtures has diverse industrial applications. In order to establish robust contacts with these fixtures, accurate estimation of the…
When working around other agents such as humans, it is important to model their perception capabilities to predict and make sense of their behavior. In this work, we consider agents whose perception capabilities are determined by their…
Humanoid robots are envisioned to adapt demonstrated motions to diverse real-world conditions while accurately preserving motion patterns. Existing motion prior approaches enable well adaptability with a few motions but often sacrifice…
Estimating camera intrinsic parameters without prior scene knowledge is a fundamental challenge in computer vision. This capability is particularly important for applications such as autonomous driving and vehicle platooning, where…
This paper presents a novel manipulation strategy that uses keypoint correspondences extracted from visuo-tactile sensor images to facilitate precise object manipulation. Our approach uses the visuo-tactile feedback to guide the robot's…
Accurately calibrating light field camera is essential to its applications. Rapid progress has been made in this area in the past decades. In this paper, detailed analysis was first performed towards the state of the art projection models…