相关论文: An Integrated Visual Servoing Framework for Precis…
In order to explore robotic grasping in unstructured and dynamic environments, this work addresses the visual perception phase involved in the task. This phase involves the processing of visual data to obtain the location of the object to…
The great flexibility of a view camera allows to take high quality photographs that would not be possible any other way. But making a given object into focus is a long and tedious task, although the underlying laws are well known. This…
Classical pixel-based Visual Servoing (VS) approaches offer high accuracy but suffer from a limited convergence area due to optimization nonlinearity. Modern deep learning-based VS methods overcome traditional vision issues but lack…
Efficient identification of picking points is critical for automated fruit harvesting. Avocados present unique challenges owing to their irregular shape, weight, and less-structured growing environments, which require specific viewpoints…
Visual Place Recognition (VPR) is fundamental for the global re-localization of robots and devices, enabling them to recognize previously visited locations based on visual inputs. This capability is crucial for maintaining accurate mapping…
Visual Servoing has been effectively used to move a robot into specific target locations or to track a recorded demonstration. It does not require manual programming, but it is typically limited to settings where one demonstration maps to…
To be useful in everyday environments, robots must be able to identify and locate real-world objects. In recent years, video object segmentation has made significant progress on densely separating such objects from background in real and…
Recent advances in visual 6D pose estimation of objects using deep neural networks have enabled novel ways of vision-based control for heavy-duty robotic applications. In this study, we present a pipeline for the precise tool positioning of…
Continuum manipulators in flexible endoscopic surgical systems offer high dexterity for minimally invasive procedures; however, accurate pose estimation and closed-loop control remain challenging due to hysteresis, compliance, and limited…
Autonomous navigation in agricultural environments is challenged by varying field conditions that arise in arable fields. State-of-the-art solutions for autonomous navigation in such environments require expensive hardware such as RTK-GNSS.…
This paper focuses on an adaptive and fault-tolerant vision-guided robotic system that enables to choose the most appropriate control action if partial or complete failure of the vision system in the short term occurs. Moreover, the…
This paper proposes a concept of computer vision-based guidance assistance for agricultural vehicles to increase the accuracy in plowing and reduce driver's cognitive burden in long-lasting tillage operations. Plowing is a common…
When developing control laws for robotic systems, the principle factor when examining their performance is choosing inputs that allow smooth tracking to a reference input. In the context of robotic manipulation, this involves translating an…
There is growing interest in automating agricultural tasks that require intricate and precise interaction with specialty crops, such as trees and vines. However, developing robotic solutions for crop manipulation remains a difficult…
This paper presents a robotic mowing framework that actively enhances garden biodiversity through visual perception and adaptive decision-making. Unlike passive rewilding approaches, the proposed system uses deep feature-space analysis to…
Comprehensive perception of human beings is the prerequisite to ensure the safety of human-robot interaction. Currently, prevailing visual sensing approach typically involves a single static camera, resulting in a restricted and occluded…
This paper presents a stereo-vision-based system mounted on a drone for detecting and localising radiata pine branches to support autonomous pruning. The proposed pipeline comprises two stages: branch segmentation and depth estimation. For…
Vision transformer has achieved competitive performance on a variety of computer vision applications. However, their storage, run-time memory, and computational demands are hindering the deployment to mobile devices. Here we present a…
Grapevine winter pruning is a complex task, that requires skilled workers to execute it correctly. The complexity of this task is also the reason why it is time consuming. Considering that this operation takes about 80-120 hours/ha to be…
Rehabilitation of aging pipes requires accurate condition assessment and mapping far into the pipe interiors. Soft growing vine robot systems are particularly promising for navigating confined, sinuous paths such as in pipes, but are…