相关论文: Adaptive Visual Servoing for On-Orbit Servicing

Visual object tracking (VOT) is an essential component for many applications, such as autonomous driving or assistive robotics. However, recent works tend to develop accurate systems based on more computationally expensive feature…

Visual-inertial odometry (VIO) is widely used in various fields, such as robots, drones, and autonomous vehicles. However, real-world scenes often feature dynamic objects, compromising the accuracy of VIO. The diversity and partial…

This paper investigates a novel active-sensing-based obstacle avoidance paradigm for flying robots in dynamic environments. Instead of fusing multiple sensors to enlarge the field of view (FOV), we introduce an alternative approach that…

This paper presents the first active object mapping framework for complex robotic manipulation and autonomous perception tasks. The framework is built on an object SLAM system integrated with a simultaneous multi-object pose estimation…

Based on the need for high resolution underwater visual surveys, this study presents the adaptation of an existing SPARUS II autonomous underwater vehicle (AUV) into an entirely hovering AUV fully capable of performing autonomous, close…

Autonomous landing on a moving platform presents unique challenges for multirotor vehicles, including the need to accurately localize the platform, fast trajectory planning, and precise/robust control. Previous works studied this problem…

This work targets what we consider to be the foundational step for urban airborne robots, a safe landing. Our attention is directed toward what we deem the most crucial aspect of the safe landing perception stack: segmentation. We present a…

Visual Odometry (VO) is vital for the navigation of autonomous systems, providing accurate position and orientation estimates at reasonable costs. While traditional VO methods excel in some conditions, they struggle with challenges like…

Active object reconstruction using autonomous robots is gaining great interest. A primary goal in this task is to maximize the information of the object to be reconstructed, given limited on-board resources. Previous view planning methods…

Visual inertial odometry and SLAM algorithms are widely used in various fields, such as service robots, drones, and autonomous vehicles. Most of the SLAM algorithms are based on assumption that landmarks are static. However, in the…

The paper focuses on the problem of vision-based obstacle detection and tracking for unmanned aerial vehicle navigation. A real-time object localization and tracking strategy from monocular image sequences is developed by effectively…

The remarkable growth of unmanned aerial vehicles (UAVs) has also sparked concerns about safety measures during their missions. To advance towards safer autonomous aerial robots, this work presents a vision-based solution to ensuring safe…

The present paper proposes optimization-based solutions to visual SLAM with a vehicle-mounted surround-view camera system. Owing to their original use-case, such systems often only contain a single camera facing into either direction and…

Adaptive optics (AO) are reconfigurable devices that compensate for wavefront distortions or aberrations in optical systems such as microscopes, telescopes and ophthalmoscopes. Aberrations have detrimental effects that can reduce imaging…

This paper presents a direct 3D visual servo scheme for the automatic alignment of point clouds (respectively, objects) using visual information in the spectral domain. Specifically, we propose an alignment method for 3D models/point clouds…

In this paper, we propose a novel robocentric formulation of the visual-inertial navigation system (VINS) within a sliding-window filtering framework and design an efficient, lightweight, robocentric visual-inertial odometry (R-VIO)…

Automation of surgical tasks using cable-driven robots is challenging due to backlash, hysteresis, and cable tension, and these issues are exacerbated as surgical instruments must often be changed during an operation. In this work, we…

The majority of visual SLAM systems are not robust in dynamic scenarios. The ones that deal with dynamic objects in the scenes usually rely on deep-learning-based methods to detect and filter these objects. However, these methods cannot…

Monocular cameras coupled with inertial measurements generally give high performance visual inertial odometry. However, drift can be significant with long trajectories, especially when the environment is visually challenging. In this paper,…

Successful visual navigation depends upon capturing images that contain sufficient useful information. In this letter, we explore a data-driven approach to account for environmental lighting changes, improving the quality of images for use…