相关论文: Visual Servoing Based on 3D Features: Design and I…

Object pose estimation is an important component of most vision pipelines for embodied agents, as well as in 3D vision more generally. In this paper we tackle the problem of estimating the pose of novel object categories in a zero-shot…

Real-time robotic grasping, supporting a subsequent precise object-in-hand operation task, is a priority target towards highly advanced autonomous systems. However, such an algorithm which can perform sufficiently-accurate grasping with…

Industrial insertion tasks are often performed repetitively with parts that are subject to tight tolerances and prone to breakage. Learning an industrial insertion policy in real is challenging as the collision between the parts and the…

Legged robots are becoming popular not only in research, but also in industry, where they can demonstrate their superiority over wheeled machines in a variety of applications. Either when acting as mobile manipulators or just as all-terrain…

Robust trajectory planning under camera viewpoint changes is important for scalable end-to-end autonomous driving. However, existing models often depend heavily on the camera viewpoints seen during training. We investigate an…

Robot localization is a fundamental component of autonomous navigation in unknown environments. Among various sensing modalities, visual input from cameras plays a central role, enabling robots to estimate their position by tracking point…

Head pose estimation plays a vital role in various applications, e.g., driverassistance systems, human-computer interaction, virtual reality technology, and so on. We propose a novel geometry based algorithm for accurately estimating the…

3D Visual Grounding (3DVG) aims to locate objects in 3D scenes based on text prompts, which is essential for applications such as robotics. However, existing 3DVG methods encounter two main challenges: first, they struggle to handle the…

This paper proposes a novel active visuo-tactile based methodology wherein the accurate estimation of the time-invariant SE(3) pose of objects is considered for autonomous robotic manipulators. The robot equipped with tactile sensors on the…

In this work, we propose a new head-tracking solution for human-machine real-time interaction with virtual 3D environments. This solution leverages RGBD data to compute virtual camera pose according to the movements of the user's head. The…

We present Stable View Synthesis (SVS). Given a set of source images depicting a scene from freely distributed viewpoints, SVS synthesizes new views of the scene. The method operates on a geometric scaffold computed via…

Visual odometry is a widely used technique in the field of robotics and automation to keep a track on the location of a robot using visual cues alone. In this paper, we propose a joint forward backward visual odometry framework by combining…

We present KOVIS, a novel learning-based, calibration-free visual servoing method for fine robotic manipulation tasks with eye-in-hand stereo camera system. We train the deep neural network only in the simulated environment; and the trained…

Accurate in-hand pose estimation is crucial for robotic object manipulation, but visual occlusion remains a major challenge for vision-based approaches. This paper presents an approach to robotic in-hand object pose estimation, combining…

This paper introduces a visual-based localization method for autonomous vehicles (AVs) that operate in the absence of any complicated hardware system but a single camera. Visual localization refers to techniques that aim to find the…

This paper investigates vision-based cooperative estimation of a 3D target object pose for visual sensor networks. In our previous works, we presented an estimation mechanism called networked visual motion observer achieving averaging of…

Performing a large volume of experiments in Chemistry labs creates repetitive actions costing researchers time, automating these routines is highly desirable. Previous experiments in robotic chemistry have performed high numbers of…

In this paper we present an approach for learning to imitate human behavior on a semantic level by markerless visual observation. We analyze a set of spatial constraints on human pose data extracted using convolutional pose machines and…

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…

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…