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Calibration-Free Monocular Vision-Based Robot Manipulations with Occlusion Awareness

Yongle Luo, Kun Dong, Lili Zhao, Zhiyong Sun, Erkang Cheng, Honglin Kan, Chao Zhou, Bo Song
2021 IEEE Access  
In this study, a calibration-free monocular vision-based robot manipulation approach is proposed based on domain randomization and deep reinforcement learning (DRL).  ...  Secondly, to address the monocular occlusion problem which regularly happens during robot manipulations, an occlusion awareness DRL policy has been designed to control the robot to avoid occlusions actively  ...  To fulfill reliable robotic manipulation with calibration-free monocular vision guidance, the following contents are arranged: the DL-based state estimator will be built and analyzed in section III; the  ... 
doi:10.1109/access.2021.3082947 fatcat:q7qds2pp3zgwrips5trtoi2o6i

A Survey of Simultaneous Localization and Mapping with an Envision in 6G Wireless Networks [article]

Baichuan Huang, Jun Zhao, Jingbin Liu
2020 arXiv   pre-print
The open question and forward thinking with an envision in 6G wireless networks end the paper.  ...  Simultaneous Localization and Mapping (SLAM) achieves the purpose of simultaneous positioning and map construction based on self-perception.  ...  Monocular camera: visual slam based on monocular camera have a scale with real size of track and map.  ... 
arXiv:1909.05214v4 fatcat:itnluvkewfd6fel7x65wdgig3e

Gaze-contingent perceptually enabled interactions in the operating theatre

Alexandros A. Kogkas, Ara Darzi, George P. Mylonas
2017 International Journal of Computer Assisted Radiology and Surgery  
Results The implementation is evaluated over 60 fixations on predefined targets, with distances between the subject and the targets of 92-212 cm and between the robot and the targets of 42-193 cm.  ...  Methods The synergy of wearable eye-tracking and advanced computer vision methodologies, such as SLAM, is exploited.  ...  Ethical standards All procedures were in accordance with the ethical standards of the institutional research committee (reg. 2015/1969) and with the 1964 Helsinki Declaration and its later amendments or  ... 
doi:10.1007/s11548-017-1580-y pmid:28397111 pmcid:PMC5509830 fatcat:t7epqrxmkvffvjz6yqx6w2uljm

A Taxonomy of Vision Systems for Ground Mobile Robots

Jesus Martinez-Gomez, Antonio Fernandez-Caballero, Ismael Garcia-Varea, Luis Rodriguez, Cristina Romero-Gonzalez
2014 International Journal of Advanced Robotic Systems  
The taxonomy described is devised from a novel perspective, namely in order to respond to the main questions posed when designing robotic vision systems: why?, what for?, what with?, how?, and where?  ...  Moreover, the study of the articles is used to put forward a comprehensive taxonomy based on the most up-to-date research in ground mobile robotics.  ...  In another paper [125] , the image-based regulation control of a robot manipulator with an uncalibrated vision system is discussed.  ... 
doi:10.5772/58900 fatcat:ydrtcuwnbrbhdgjxmw3rhfa7oi

MonStereo: When Monocular and Stereo Meet at the Tail of 3D Human Localization [article]

Lorenzo Bertoni, Sven Kreiss, Taylor Mordan, Alexandre Alahi
2021 arXiv   pre-print
Monocular and stereo visions are cost-effective solutions for 3D human localization in the context of self-driving cars or social robots.  ...  Our method jointly (i) associates humans in left-right images, (ii) deals with occluded and distant cases in stereo settings by relying on the robustness of monocular cues, and (iii) tackles the intrinsic  ...  INTRODUCTION Recently, human 3D localization for autonomous vehicles or social robots has been addressed with cost-effective vision-based solutions [1] , [2] , [3] , [4] , [5] .  ... 
arXiv:2008.10913v2 fatcat:xlraec4e6jgoxarqexy2q5kmzq

2020 Index IEEE Robotics and Automation Letters Vol. 5

2020 IEEE Robotics and Automation Letters  
Luiten, J., +, LRA April 2020 1803-1810 Unseen Salient Object Discovery for Monocular Robot Vision.  ...  Luiten, J., +, LRA April 2020 1803-1810 Unseen Salient Object Discovery for Monocular Robot Vision.  ... 
doi:10.1109/lra.2020.3032821 fatcat:qrnouccm7jb47ipq6w3erf3cja

BIM-assisted object recognition for the on-site autonomous robotic assembly of discrete structures

Mohamed Dawod, Sean Hanna
2019 Construction Robotics  
The design layout is used to guide the robot to grasp and manipulate the found elements to build the desired structure.  ...  In this paper, we propose a flexible object pose estimation framework to enable robots to autonomously handle building components on-site with an error tolerance to build a specific design target without  ...  Feng et al. (2015) proposed a mono-vision marker-based system for referencing and rapidly localising non-unique and modular building components to automate the robotic assembly of free-form modular structures  ... 
doi:10.1007/s41693-019-00021-9 fatcat:gmomcvivbfgn5ew2psffnco2xa

Augmented Reality for Robotics: A Review

Zhanat Makhataeva, Huseyin Atakan Varol
2020 Robotics  
and control: trajectory generation, robot programming, simulation, and manipulation; (3) Human-robot interaction (HRI): teleoperation, collaborative interfaces, wearable robots, haptic interfaces, brain-computer  ...  interfaces (BCIs), and gaming; (4) Multi-agent systems: use of visual feedback to remotely control drones, robot swarms, and robots with shared workspace.  ...  [92] , an AR-based vision system was designed to deliver feedback to the sensory-motor control module of a robotic system during object manipulation.  ... 
doi:10.3390/robotics9020021 doaj:a4cff00359374fcf99f0aa2b2771bc3a fatcat:upn3jaifw5barbodr5c2n73ucq

From medical images to minimally invasive intervention: Computer assistance for robotic surgery

Su-Lin Lee, Mirna Lerotic, Valentina Vitiello, Stamatia Giannarou, Ka-Wai Kwok, Marco Visentini-Scarzanella, Guang-Zhong Yang
2010 Computerized Medical Imaging and Graphics  
The introduction of robotic assistance enhances the manual dexterity and accuracy of instrument manipulation.  ...  for preoperative planning and intra-operative manipulation.  ...  A model-free vision-based robot control for minimally invasive surgery using ESM tracking and pixels color selection.  ... 
doi:10.1016/j.compmedimag.2009.07.007 pmid:19699056 fatcat:bby32m73fjev3hd6ns55m4mvde

Occlusion-aware multi-view reconstruction of articulated objects for manipulation

Xiaoxia Huang, Ian Walker, Stan Birchfield
2014 Robotics and Autonomous Systems  
This is one of the main advantages of the occlusion-aware approach, because the models capture all sides of the object meaning that the robot has knowledge of parts of the object that are not visible in  ...  Second, with such a resulting articulated model, a robotic system is then able to manipulate the object either along its joint axes at a specified grasp point in order to exercise its degrees of freedom  ...  The resulting occlusion-aware 3D articulated model can be used to enable a robot to manipulate the object.  ... 
doi:10.1016/j.robot.2013.12.006 fatcat:s23sgvhxujhxfcd4da32s5qfnq

Human-Robot Perception in Industrial Environments: A Survey

Andrea Bonci, Pangcheng David Cen Cheng, Marina Indri, Giacomo Nabissi, Fiorella Sibona
2021 Sensors  
Various types of robotic systems commonly used in industry, such as fixed-base manipulators, collaborative robots, mobile robots and mobile manipulators, are considered, analyzing the most useful sensors  ...  However, if the robot is not aware of the human position and intention, a shared workspace between robots and humans may decrease productivity and lead to human safety issues.  ...  Proof of Concept for a collaborative fixed-base manipulator was mainly developed by A.B. and G.N. Proof of Concept for the collaborative Sen3Bot was mainly developed by F.S., P.D.C.C. and M.I.  ... 
doi:10.3390/s21051571 pmid:33668162 pmcid:PMC7956747 fatcat:zkneqhwbwvh7nigscwogcagbly

Portable 3-D modeling using visual pose tracking

Klaus H. Strobl, Elmar Mair, Tim Bodenmüller, Simon Kielhöfer, Tilo Wüsthoff, Michael Suppa
2018 Computers in industry (Print)  
This work deals with the passive tracking of the pose of a close-range 3-D modeling device using its own high-rate images in realtime, concurrently with customary 3-D modeling of the scene.  ...  The approach comprises efficient tracking of natural features following the Active Matching paradigm, a frugal use of interleaved feature-based stereo triangulation, visual odometry using the robustified  ...  Feature-based stereo vision and monocular tracking serve Visual-GPS, which in turn yields pose estimations.  ... 
doi:10.1016/j.compind.2018.03.009 fatcat:36vnyhc5o5dcvnfknndumb4ufi

Table of Contents

2020 IEEE Robotics and Automation Letters  
Chirarattananon 1476 Unseen Salient Object Discovery for Monocular Robot Vision . , O. Bailey, and A. T.  ...  Spenko 3182 Passivity-Based Robust Compliance Control of Electro-Hydraulic Robot Manipulators With Joint Angle Limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .  ... 
doi:10.1109/lra.2020.2987582 fatcat:3qafzip5xrg5jliyngq4xxvjha

MoreFusion: Multi-object Reasoning for 6D Pose Estimation from Volumetric Fusion [article]

Kentaro Wada, Edgar Sucar, Stephen James, Daniel Lenton, Andrew J. Davison
2020 arXiv   pre-print
Robots and other smart devices need efficient object-based scene representations from their on-board vision systems to reason about contact, physics and occlusion.  ...  We demonstrate a real-time robotics application where a robot arm precisely and orderly disassembles complicated piles of objects, using only on-board RGB-D vision.  ...  This visual capability to infer the poses of multiple objects with occlusion and contact enables robotic planning for pick-and-place in a cluttered scene e.g. removing obstacle objects for picking the  ... 
arXiv:2004.04336v1 fatcat:hamhljqkgzeubco2fi2rhehoea

Interface Transparency Issues in Teleoperation

Luis Almeida, Paulo Menezes, Jorge Dias
2020 Applied Sciences  
However, technological contingencies can affect human perception, compromising skill-based performances.  ...  People can experience and perform actions in distant places through a robotic agent wearing immersive interfaces to feel physically there.  ...  Usually, the operator overcomes this situation with extra effort, manipulating the cameras to survey the environment and gaining similar scene awareness to direct viewing.  ... 
doi:10.3390/app10186232 fatcat:rulrkiwk3ffcfpd5ngcxzyiggq
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