相关论文: Efficient Self-Supervised Neuro-Analytic Visual Se…

Visual servoing, the method of controlling robot motion through feedback from visual sensors, has seen significant advancements with the integration of optical flow-based methods. However, its application remains limited by inherent…

Learning visual representations with self-supervised learning has become popular in computer vision. The idea is to design auxiliary tasks where labels are free to obtain. Most of these tasks end up providing data to learn specific kinds of…

In this paper we propose an algorithm for the training of neural network control policies for quadrotors. The learned control policy computes control commands directly from sensor inputs and is hence computationally efficient. An imitation…

Learning visual representations through self-supervision is an extremely challenging task as the network needs to sieve relevant patterns from spurious distractors without the active guidance provided by supervision. This is achieved…

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.…

We propose XVO, a semi-supervised learning method for training generalized monocular Visual Odometry (VO) models with robust off-the-self operation across diverse datasets and settings. In contrast to standard monocular VO approaches which…

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…

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…

We demonstrate the capabilities of an attention-based end-to-end approach for high-speed vision-based quadrotor obstacle avoidance in dense, cluttered environments, with comparison to various state-of-the-art learning architectures.…

Supervised multi-view stereo (MVS) methods have achieved remarkable progress in terms of reconstruction quality, but suffer from the challenge of collecting large-scale ground-truth depth. In this paper, we propose a novel self-supervised…

Limited power and computational resources, absence of high-end sensor equipment and GPS-denied environments are challenges faced by autonomous micro areal vehicles (MAVs). We address these challenges in the context of autonomous navigation…

In this paper we present the experimental results of the neural network control of a servo-system in order to control its speed. The control strategy is implemented by using an inverse-model control based on Artificial Neural Networks…

Achieving robust and real-time 3D perception is fundamental for autonomous vehicles. While most existing 3D perception methods prioritize detection accuracy, they often overlook critical aspects such as computational efficiency, onboard…

Autonomously controlling quadrotors in large-scale subterranean environments is applicable to many areas such as environmental surveying, mining operations, and search and rescue. Learning-based controllers represent an appealing approach…

Diffusion inversion is a task of recovering the noise of an image in a diffusion model, which is vital for controllable diffusion image editing. At present, diffusion inversion still remains a challenging task due to the lack of viable…

Self-supervised learning has achieved remarkable success in learning visual representations from clean data, yet remains challenging when clean observations are sparse or not available at all. In this paper, we demonstrate that pretrained…

Humans are remarkably proficient at controlling their limbs and tools from a wide range of viewpoints and angles, even in the presence of optical distortions. In robotics, this ability is referred to as visual servoing: moving a tool or…

Semi-supervised learning via teacher-student network can train a model effectively on a few labeled samples. It enables a student model to distill knowledge from the teacher's predictions of extra unlabeled data. However, such knowledge…

The 3D reconstruction of plants is challenging due to their complex shape causing many occlusions. Next-Best-View (NBV) methods address this by iteratively selecting new viewpoints to maximize information gain (IG). Deep-learning-based NBV…

Achieving reliable and safe autonomous driving in off-road environments requires accurate and efficient terrain traversability analysis. However, this task faces several challenges, including the scarcity of large-scale datasets tailored…