相关论文: Precise Interception Flight Targets by Image-based…

Most automated driving systems comprise a diverse sensor set, including several cameras, Radars, and LiDARs, ensuring a complete 360\deg coverage in near and far regions. Unlike Radar and LiDAR, which measure directly in 3D, cameras capture…

Precise geolocalization is crucial for unmanned aerial vehicles (UAVs). However, most current deployed UAVs rely on the global navigation satellite systems (GNSS) or high precision inertial navigation systems (INS) for geolocalization. In…

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…

Multi-instance scenes are especially challenging for end-to-end visuomotor (image-to-control) learning algorithms. "Pipeline" visual servo control algorithms use separate detection, selection and servo stages, allowing algorithms to focus…

We propose a control pipeline for SAG (Searching, Approaching, and Grasping) of objects, based on a decoupled arm kinematic chain and impedance control, which integrates image-based visual servoing (IBVS). The kinematic decoupling allows…

In this paper, we present a novel visual servoing (VS) approach based on latent Denoising Diffusion Probabilistic Models (DDPMs), that explores the application of generative models for vision-based navigation of UAVs (Uncrewed Aerial…

Automotive targets undergoing turns in road junctions offer large synthetic apertures over short dwell times to automotive radars that can be exploited for obtaining fine cross-range resolution. Likewise, the wide bandwidths of the…

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…

The versatility of recent machine learning approaches makes them ideal for improvement of next generation video compression solutions. Unfortunately, these approaches typically bring significant increases in computational complexity and are…

Selective interception of objects in unknown environment autonomously by UAVs is an interesting problem. In this work, vision based interception is carried out. This problem is a part of challenge 1 of Mohammed Bin Zayed International…

This paper introduces a novel Hybrid Visual Servoing (HVS) approach for controlling tendon-driven continuum robots (TDCRs). The HVS system combines Image-Based Visual Servoing (IBVS) with Deep Learning-Based Visual Servoing (DLBVS) to…

Visual Servoing (VS), where images taken from a camera typically attached to the robot end-effector are used to guide the robot motions, is an important technique to tackle robotic tasks that require a high level of accuracy. We propose a…

The development of the low-altitude economy has led to a growing prominence of uncrewed aerial vehicle (UAV) safety management issues. Therefore, accurate identification, real-time localization, and effective countermeasures have become…

This paper presents a cooperative guidance strategy for the simultaneous interception of a constant-velocity, non-maneuvering target, addressing the realistic scenario where only a subset of interceptors are equipped with onboard seekers.…

The paper discusses a novel vision-based estimation and control approach to enable fully autonomous tracking and landing of vertical take-off and landing (VTOL) capable unmanned aerial vehicles (UAVs) on moving platforms without relying on…

In autonomous driving, using a variety of sensors to recognize preceding vehicles in middle and long distance is helpful for improving driving performance and developing various functions. However, if only LiDAR or camera is used in the…

Catching objects in-flight is an outstanding challenge in robotics. In this paper, we present a closed-loop control system fusing data from two sensor modalities: an RGB-D camera and a radar. To develop and test our method, we start with an…

We present a robust multi-robot convoying approach that relies on visual detection of the leading agent, thus enabling target following in unstructured 3-D environments. Our method is based on the idea of tracking-by-detection, which…

Visual Grounding (VG) aims at localizing target objects from an image based on given expressions and has made significant progress with the development of detection and vision transformer. However, existing VG methods tend to generate…

While Visual Servoing is deeply studied to perform simple maneuvers, the literature does not commonly address complex cases where the target is far out of the camera's field of view (FOV) during the maneuver. For this reason, in this paper,…