相关论文: Utilizing Inpainting for Keypoint Detection for Vi…

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…

The field of visual representation learning has seen explosive growth in the past years, but its benefits in robotics have been surprisingly limited so far. Prior work uses generic visual representations as a basis to learn (task-specific)…

Medical images often incorporate doctor-added markers that can hinder AI-based diagnosis. This issue highlights the need of inpainting techniques to restore the corrupted visual contents. However, existing methods require manual mask…

A robot's ability to act is fundamentally constrained by what it can perceive. Many existing approaches to visual representation learning utilize general-purpose training criteria, e.g. image reconstruction, smoothness in latent space, or…

We present a robust markerless image based visual servoing method that enables precision robot control without hand-eye and camera calibrations in 1, 3, and 5 degrees-of-freedom. The system uses two cameras for observing the workspace and a…

Keypoint detection and local feature description are fundamental tasks in robotic perception, critical for applications such as SLAM, robot localization, feature matching, pose estimation, and 3D mapping. While existing methods…

Predictive models have been at the core of many robotic systems, from quadrotors to walking robots. However, it has been challenging to develop and apply such models to practical robotic manipulation due to high-dimensional sensory…

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…

Visual servoing involves choosing actions that move a robot in response to observations from a camera, in order to reach a goal configuration in the world. Standard visual servoing approaches typically rely on manually designed features and…

We present KOVIS, a novel learning-based, calibration-free visual servoing method for fine robotic manipulation tasks with eye-in-hand stereo camera system. We train the deep neural network only in the simulated environment; and the trained…

This work considers robot keypoint estimation on color images as a supervised machine learning task. We propose the use of probabilistically created renderings to overcome the lack of labeled real images. Rather than sampling from…

Learning sensorimotor control policies from high-dimensional images crucially relies on the quality of the underlying visual representations. Prior works show that structured latent space such as visual keypoints often outperforms…

Inpainting is a learned interpolation technique that is based on generative modeling and used to populate masked or missing pieces in an image; it has wide applications in picture editing and retouching. Recently, inpainting started being…

Model-based control is a popular paradigm for robot navigation because it can leverage a known dynamics model to efficiently plan robust robot trajectories. However, it is challenging to use model-based methods in settings where the…

We present a novel method for collaborative robots (cobots) to learn manipulation tasks and perform them in a human-like manner. Our method falls under the learn-from-observation (LfO) paradigm, where robots learn to perform tasks by…

The advances in deep reinforcement learning recently revived interest in data-driven learning based approaches to navigation. In this paper we propose to learn viewpoint invariant and target invariant visual servoing for local mobile robot…

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…

Factory automation has become increasingly important due to labor shortages, leading to the introduction of autonomous mobile robots for tasks such as material transportation. Markers are commonly used for robot self-localization and object…

Characterizing interactions between brain areas is a fundamental goal of systems neuroscience. While such analyses are possible when areas are recorded simultaneously, it is rare to observe all combinations of areas of interest within a…

Visual servoing is fundamental to robotic applications, enabling precise positioning and control. However, applying it to textureless objects remains a challenge due to the absence of reliable visual features. Moreover, adverse visual…