相关论文: Autonomous Field-of-View Adjustment Using Adaptive…
As robots aspire for long-term autonomous operations in complex dynamic environments, the ability to reliably take mission-critical decisions in ambiguous situations becomes critical. This motivates the need to build systems that have…
Robots need robust and flexible vision systems to perceive and reason about their environments beyond geometry. Most of such systems build upon deep learning approaches. As autonomous robots are commonly deployed in initially unknown…
Camera-to-robot calibration is crucial for vision-based robot control and requires effort to make it accurate. Recent advancements in markerless pose estimation methods have eliminated the need for time-consuming physical setups for…
We introduce a novel method to automatically adjust camera exposure for image processing and computer vision applications on mobile robot platforms. Because most image processing algorithms rely heavily on low-level image features that are…
In the real world, robots with embodiment face various issues such as dynamic continuous changes of the environment and input/output disturbances. The key to solving these issues can be found in daily life; people `do actions associated…
Aerial cinematography is revolutionizing industries that require live and dynamic camera viewpoints such as entertainment, sports, and security. However, safely piloting a drone while filming a moving target in the presence of obstacles is…
Autonomous inspection in hazardous environments requires AI agents that can interpret high-level goals and execute precise control. A key capability for such agents is spatial grounding, for example when a drone must center a detected…
Virtual and augmented reality technologies have seen significant growth in the past few years. A key component of such systems is the ability to track the pose of head mounted displays and controllers in 3D space. We tackle the problem of…
The use of drones for aerial cinematography has revolutionized several applications and industries that require live and dynamic camera viewpoints such as entertainment, sports, and security. However, safely controlling a drone while…
Nowadays, with the continuous expansion of application scenarios of robotic arms, there are more and more scenarios where nonspecialist come into contact with robotic arms. However, in terms of robotic arm visual servoing, traditional…
Relative state estimation is crucial for vision-based swarms to estimate and compensate for the unavoidable drift of visual odometry. For autonomous drones equipped with the most compact sensor setting -- a stereo camera that provides a…
Magnetic microrobots can be navigated by an external magnetic field to autonomously move within living organisms with complex and unstructured environments. Potential applications include drug delivery, diagnostics, and therapeutic…
Spatial scene-understanding, including dense depth and ego-motion estimation, is an important problem in computer vision for autonomous vehicles and advanced driver assistance systems. Thus, it is beneficial to design perception modules…
Camera calibration for estimating the intrinsic parameters and lens distortion is a prerequisite for various monocular vision applications including feature tracking and video stabilization. This application paper proposes a model for…
In this paper, we study the problem of adapting manipulation trajectories involving grasped objects (e.g. tools) defined for a single grasp pose to novel grasp poses. A common approach to address this is to define a new trajectory for each…
This paper proposes a novel approach to create an automated visual surveillance system which is very efficient in detecting and tracking moving objects in a video captured by moving camera without any apriori information about the captured…
Astronomical telescopes suffer from a tradeoff between field of view (FoV) and image resolution: increasing the FoV leads to an optical field that is under-sampled by the science camera. This work presents a novel computational imaging…
A drawing robot avatar is a robotic system that allows for telepresence-based drawing, enabling users to remotely control a robotic arm and create drawings in real-time from a remote location. The proposed control framework aims to improve…
Autofocus (AF) methods are extensively used in biomicroscopy, for example to acquire timelapses, where the imaged objects tend to drift out of focus. AD algorithms determine an optimal distance by which to move the sample back into the…
Anytime a robot manipulator is controlled via visual feedback, the transformation between the robot and camera frame must be known. However, in the case where cameras can only capture a portion of the robot manipulator in order to better…