相关论文: Invisible Servoing: a Visual Servoing Approach wit…

With the rapid growth of the low-altitude economy, unmanned aerial vehicles (UAVs) have become key platforms for measurement and tracking in intelligent patrol systems. However, in GNSS-denied environments, localization schemes that rely…

Using Unmanned Aerial Vehicles (UAVs) to perform high-altitude manipulation tasks beyond just passive visual application can reduce the time, cost, and risk of human workers. Prior research on aerial manipulation has relied on either ground…

Unmanned aerial vehicle (UAV) based object detection is a critical but challenging task, when applied in dynamically changing scenarios with limited annotated training data. Layout-to-image generation approaches have proved effective in…

The problem of image-based visual servoing (IBVS) of an aerial robot using deep-learning-based keypoint detection is addressed in this article. A monocular RGB camera mounted on the platform is utilized to collect the visual data. A…

We present a novel control strategy for a team of unmanned aerial vehicles (UAVs) to autonomously achieve a desired formation using only visual feedback provided by the UAV's onboard cameras. This effectively eliminates the need for global…

This work proposes a fast deployment pipeline for visually-servoed robots which does not assume anything about either the robot - e.g. sizes, colour or the presence of markers - or the deployment environment. In this, accurate estimation of…

Diffusion models (DMs) have become the new trend of generative models and have demonstrated a powerful ability of conditional synthesis. Among those, text-to-image diffusion models pre-trained on large-scale image-text pairs are highly…

We introduce the first zero-shot approach for Video Semantic Segmentation (VSS) based on pre-trained diffusion models. A growing research direction attempts to employ diffusion models to perform downstream vision tasks by exploiting their…

Novel View Synthesis (NVS), which tries to produce a realistic image at the target view given source view images and their corresponding poses, is a fundamental problem in 3D Vision. As this task is heavily under-constrained, some recent…

Single-view novel view synthesis (NVS), the task of generating images from new viewpoints based on a single reference image, is important but challenging in computer vision. Recent advancements in NVS have leveraged Denoising Diffusion…

Latent representations are critical for the performance and robustness of machine learning models, as they encode the essential features of data in a compact and informative manner. However, in vision tasks, these representations are often…

Recent progress in imitation learning has been enabled by policy architectures that scale to complex visuomotor tasks, multimodal distributions, and large datasets. However, these methods often rely on learning from large amount of expert…

This paper proposes a visual-servoing method dedicated to grasping of daily-life objects. In order to obtain an affordable solution, we use a low-accurate robotic arm. Our method corrects errors by using an RGB-D sensor. It is based on SURF…

Visual imitation learning is effective for robots to learn versatile tasks. However, many existing methods rely on behavior cloning with supervised historical trajectories, limiting their 3D spatial and 4D spatiotemporal awareness.…

Diffusion-based methods represented as stochastic differential equations on a continuous-time domain have recently proven successful as a non-adversarial generative model. Training such models relies on denoising score matching, which can…

Vision-based control provides a significant potential for the end-point positioning of continuum robots under physical sensing limitations. Traditional visual servoing requires feature extraction and tracking followed by full or partial…

Task planning for embodied AI has been one of the most challenging problems where the community does not meet a consensus in terms of formulation. In this paper, we aim to tackle this problem with a unified framework consisting of an…

In everyday life collaboration tasks between human operators and robots, the former necessitate simple ways for programming new skills, the latter have to show adaptive capabilities to cope with environmental changes. The joint use of…

Visual perception is an important component for autonomous navigation of unmanned surface vessels (USV), particularly for the tasks related to autonomous inspection and tracking. These tasks involve vision-based navigation techniques to…

Active object reconstruction is crucial for many robotic applications. A key aspect in these scenarios is generating object-specific view configurations to obtain informative measurements for reconstruction. One-shot view planning enables…