相关论文: Hybrid Vision Servoing with Depp Alignment and GRU…

This paper considers the final approach phase of visual-closed-loop grasping where the RGB-D camera is no longer able to provide valid depth information. Many current robotic grasping controllers are not closed-loop and therefore fail for…

Visual servoing enables robotic systems to perform accurate closed-loop control, which is required in many applications. However, existing methods either require precise calibration of the robot kinematic model and cameras or use neural…

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…

For soft continuum arms, visual servoing is a popular control strategy that relies on visual feedback to close the control loop. However, robust visual servoing is challenging as it requires reliable feature extraction from the image,…

Visual tracking fundamentally involves regressing the state of the target in each frame of a video. Despite significant progress, existing regression-based trackers still tend to experience failures and inaccuracies. To enhance the…

High-precision tiny object alignment remains a common and critical challenge for humanoid robots in real-world. To address this problem, this paper proposes a vision-based framework for precisely estimating and controlling the relative…

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…

This paper presents an image-based visual servo control (IBVS) method for a first-person-view (FPV) quadrotor to conduct aggressive aerial tracking. There are three major challenges to maneuvering an underactuated vehicle using IBVS: (i)…

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…

Vision-based interception using multicopters equipped strapdown camera is challenging due to camera-motion coupling and evasive targets. This paper proposes a method integrating Image-Based Visual Servoing (IBVS) with proportional…

Relative pose estimation is fundamental for SLAM, visual localization, and 3D reconstruction. Existing Relative Pose Regression (RPR) methods face a key trade-off: feature-matching pipelines achieve high accuracy but block gradient flow via…

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…

The simplicity of the visual servoing approach makes it an attractive option for tasks dealing with vision-based control of robots in many real-world applications. However, attaining precise alignment for unseen environments pose a…

Traditional visual servoing methods suffer from serving between scenes from multiple perspectives, which humans can complete with visual signals alone. In this paper, we investigated how multi-perspective visual servoing could be solved…

In this paper we present a visual servoing approach to the problem of object grasping and more generally, to the problem of aligning an end-effector with an object. First we extend the method proposed by Espiau et al. [1] to the case of a…

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,…

Estimating the state of a deformable object is crucial for robotic manipulation, yet accurate tracking is challenging when the object is partially-occluded. To address this problem, we propose an occlusion-robust RGBD sequence tracking…

The integration of robotic arm manipulators into industrial manufacturing lines has become common, thanks to their efficiency and effectiveness in executing specific tasks. With advancements in camera technology, visual sensors and…

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…

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…