相关论文: DIJE: Dense Image Jacobian Estimation for Robust R…
Researchers and robotic development groups have recently started paying special attention to autonomous mobile robot navigation in indoor environments using vision sensors. The required data is provided for robot navigation and object…
We propose the Dynamic Optical Test for Bot Identification (DOT-BI): a quick and easy method that uses human perception of motion to differentiate between human respondents and automated systems in surveys and online processes. In DOT-BI, a…
This paper proposes a unified vision-based manipulation framework using image contours of deformable/rigid objects. Instead of using human-defined cues, the robot automatically learns the features from processed vision data. Our method…
We propose a visual servoing method consisting of a detection network and a velocity trajectory planner. First, the detection network estimates the objects position and orientation in the image space. Furthermore, these are normalized and…
Existing deep learning based visual servoing approaches regress the relative camera pose between a pair of images. Therefore, they require a huge amount of training data and sometimes fine-tuning for adaptation to a novel scene.…
Image classification is the task of assigning to an input image a label from a fixed set of categories. One of its most important applicative fields is that of robotics, in particular the needing of a robot to be aware of what's around and…
Modern digital cameras rely on the sequential execution of separate image processing steps to produce realistic images. The first two steps are usually related to denoising and demosaicking where the former aims to reduce noise from the…
We present a novel scalable, fully distributed, and online method for simultaneous localisation and extrinsic calibration for multi-robot setups. Individual a priori unknown robot poses are probabilistically inferred as robots sense each…
Precise collaboration in vision-based dual-arm robot systems requires accurate system calibration. Recent dual-robot calibration methods have achieved strong performance by simultaneously solving multiple coordinate transformations.…
Although visual navigation has been extensively studied using deep reinforcement learning, online learning for real-world robots remains a challenging task. Recent work directly learned from offline dataset to achieve broader generalization…
In this paper, we propose a 2-stage low-light image enhancement method called Self-Reference Deep Adaptive Curve Estimation (Self-DACE). In the first stage, we present an intuitive, lightweight, fast, and unsupervised luminance enhancement…
Robotic eye-in-hand calibration is the task of determining the rigid 6-DoF pose of the camera with respect to the robot end-effector frame. In this paper, we formulate this task as a non-linear optimization problem and introduce an active…
This paper presents an adaptive visual servoing framework for robotic on-orbit servicing (OOS), specifically designed for capturing tumbling satellites. The vision-guided robotic system is capable of selecting optimal control actions in the…
Biological function arises through the dynamical interactions of multiple subsystems, including those between brain areas, within gene regulatory networks, and more. A common approach to understanding these systems is to model the dynamics…
We address the problem of tracking the 6-DoF pose of an object while it is being manipulated by a human or a robot. We use a dynamic Bayesian network to perform inference and compute a posterior distribution over the current object pose.…
Imagine sitting at your desk, looking at objects on it. You do not know their exact distances from your eye in meters, but you can immediately reach out and touch them. Instead of an externally defined unit, your sense of distance is tied…
Monocular visual-inertial odometry (VIO) is a critical problem in robotics and autonomous driving. Traditional methods solve this problem based on filtering or optimization. While being fully interpretable, they rely on manual interference…
The development of aerial autonomy has enabled aerial robots to fly agilely in complex environments. However, dodging fast-moving objects in flight remains a challenge, limiting the further application of unmanned aerial vehicles (UAVs).…
Building generalist robotic systems involves effectively endowing robots with the capabilities to handle novel objects in an open-world setting. Inspired by the advances of large pre-trained models, we propose Keypoint Affordance Learning…
Robotic calibration allows for the fusion of data from multiple sensors such as odometers, cameras, etc., by providing appropriate transformational relationships between the corresponding reference frames. For wheeled robots equipped with…