相关论文: Autonomous Field-of-View Adjustment Using Adaptive…

Camera calibration is a crucial step in photogrammetry and 3D vision applications. In practical scenarios with a long working distance to cover a wide area, target-based calibration methods become complicated and inflexible due to site…

Accurate scene perception is critical for vision-based robotic manipulation. Existing approaches typically follow either a Vision-to-Action (V-A) paradigm, predicting actions directly from visual inputs, or a Vision-to-3D-to-Action (V-3D-A)…

We present CineMPC, an algorithm to autonomously control a UAV-borne video camera in a nonlinear Model Predicted Control (MPC) loop. CineMPC controls both the position and orientation of the camera -- the camera extrinsics -- as well as the…

Biological sensory systems are inherently adaptive, filtering out constant stimuli and prioritizing relative changes, likely enhancing computational and metabolic efficiency. Inspired by active sensing behaviors across a wide range of…

We address the problem of anomaly detection in videos. The goal is to identify unusual behaviours automatically by learning exclusively from normal videos. Most existing approaches are usually data-hungry and have limited generalization…

Single-view RGB object pose estimators have reached a level of precision and efficiency that makes them good candidates for vision-based robot control. However, off-the-shelf methods lack temporal consistency and robustness that are…

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…

While an exciting diversity of new imaging devices is emerging that could dramatically improve robotic perception, the challenges of calibrating and interpreting these cameras have limited their uptake in the robotics community. In this…

This paper addresses the challenge of active perception within autonomous navigation in complex, unknown environments. Revisiting the foundational principles of active perception, we introduce an end-to-end reinforcement learning framework…

Estimating the camera's pose given images from a single camera is a traditional task in mobile robots and autonomous vehicles. This problem is called monocular visual odometry and often relies on geometric approaches that require…

Creating accurate and efficient 3D models poses significant challenges, particularly in addressing large viewpoint variations, computational complexity, and alignment discrepancies. Efficient camera path generation can help resolve these…

We demonstrated a CMOS imaging system that adapts each pixel's exposure and sampling rate to capture high dynamic range (HDR) videos. The system consist of a custom designed image sensor with pixel-wise exposure configurability and a…

We present a technique that uses images, videos and sensor data taken from first-person point-of-view devices to perform egocentric field-of-view (FOV) localization. We define egocentric FOV localization as capturing the visual information…

The development of aerial autonomy has enabled aerial robots to fly agilely in complex environments. However, dodging fast-moving objects in flight remains a challenge, limiting the further application of unmanned aerial vehicles (UAVs).…

We present a robust markerless image based visual servoing method that enables precision robot control without hand-eye and camera calibrations in 1, 3, and 5 degrees-of-freedom. The system uses two cameras for observing the workspace and a…

In robot navigation and manipulation, accurately determining the camera's pose relative to the environment is crucial for effective task execution. In this paper, we systematically prove that this problem corresponds to the…

We present MOFA-Video, an advanced controllable image animation method that generates video from the given image using various additional controllable signals (such as human landmarks reference, manual trajectories, and another even…

Cooperative Unmanned Aerial Systems (UASs) in GPS-denied environments demand an accurate pose-localization system to ensure efficient operation. In this paper we present a novel visual relative localization system capable of monitoring a…

To be useful in everyday environments, robots must be able to identify and locate real-world objects. In recent years, video object segmentation has made significant progress on densely separating such objects from background in real and…

Vision-based learning methods for self-driving cars have primarily used supervised approaches that require a large number of labels for training. However, those labels are usually difficult and expensive to obtain. In this paper, we…