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Vision-based trajectory tracking for mobile robots using Mirage pose estimation method

Semih Dinc, Farbod Fahimi, Ramazan Aygun
2016 IET Computer Vision  
Mirage employs target pixel errors in 2D image plane and analytically calculates the robot's pose in 3D Euclidean space.  ...  Unmanned vehicles are autonomous robotic systems that are fully or partially controlled by an operator remotely from a station.  ...  Figure 8 shows the tracking results of each method. In Figure 8 it can be seen that, DLT generated inconsistent motion, which cannot be applicable to a real system.  ... 
doi:10.1049/iet-cvi.2015.0153 fatcat:iqe4a3hcqzegrnia7czub3763i

3D SSD Tracking from Uncalibrated Video [chapter]

Dana Cobzas, Martin Jagersand
2006 Lecture Notes in Computer Science  
We extend this approach from planar patches into a formulation where the 3D geometry of a scene is both estimated from uncalibrated video and used in the tracking of the same video sequence.  ...  In registration-based motion tracking precise pose between a reference template and the current images is determined by warping image patches into the template coordinates and matching pixelwise intensities  ...  results in an efficient tracking algorithm that can be implemented in real time (see Section IV).  ... 
doi:10.1007/11676959_3 fatcat:mmlcv6e6snehvfr2unvxq2df3u

Visual servoing based on Gaussian mixture models

A.H. Abdul Hafez, Supreeth Achar, C.V. Jawahar
2008 2008 IEEE International Conference on Robotics and Automation  
In this paper we present a novel approach to robust visual servoing. This method removes the feature tracking step from a typical visual servoing algorithm.  ...  This is achieved by modeling the image features as a Mixture of Gaussians in the current as well as desired images.  ...  This method is directly applicable to the case of 2D motion of a planar robot with 3 degrees of freedom.  ... 
doi:10.1109/robot.2008.4543702 dblp:conf/icra/HafezAJ08 fatcat:sl2uahveebd6hb36x3piahuewu

Monocular Model-Based 3D Tracking of Rigid Objects: A Survey

Vincent Lepetit, Pascal Fua
2005 Foundations and Trends in Computer Graphics and Vision  
These include visual servoing of robotic arms on specific target objects, Augmented Reality systems that require real-time registration of the object to be augmented, and head tracking systems that sophisticated  ...  Many applications require tracking of complex 3D objects.  ...  This method was originally used to track in real-time human faces assuming a 2D affine transformation for the motion model.  ... 
doi:10.1561/0600000001 fatcat:fhqgklpttrd3hbx6piruzo5yta

Let's Push Things Forward: A Survey on Robot Pushing

Jochen Stüber, Claudio Zito, Rustam Stolkin
2020 Frontiers in Robotics and AI  
Beginning with analytical approaches, under which we also subsume physics engines, we then proceed to discuss work on learning models from data.  ...  With this regard, pushing is an essential motion primitive that dramatically extends a robot's manipulation repertoire. In this work, we review the robotic pushing literature.  ...  In real-world experiments with Baxter, their model is used to move objects to target locations by poking. In order to cope with the real world, their model requires training on large amounts of data.  ... 
doi:10.3389/frobt.2020.00008 pmid:33501177 pmcid:PMC7805815 fatcat:qaclhccvvrddlktpmwdww6tmcy

Texture Boundary Detection for Real-Time Tracking [chapter]

Ali Shahrokni, Tom Drummond, Pascal Fua
2004 Lecture Notes in Computer Science  
It is therefore very fast and can be incorporated into a real-time 3-D pose estimation algorithm that retains the speed of those that rely solely on gradient properties along object contours but does not  ...  We propose an approach to texture boundary detection that only requires a line-search in the direction normal to the edge.  ...  Real-Time 3-D Tracking Robust real-time tracking remains an open problem, even though offline camera registration from an image sequence [2, 3, 4] has progressed to the point where commercial solutions  ... 
doi:10.1007/978-3-540-24671-8_45 fatcat:2mfqs72odnfdvlv6hmtch3lvp4

Pose Estimation for Augmented Reality: A Hands-On Survey

Eric Marchand, Hideaki Uchiyama, Fabien Spindler
2016 IEEE Transactions on Visualization and Computer Graphics  
The solution of this problem can be related to a pose estimation or, equivalently, a camera localization process.  ...  Augmented reality (AR) allows to seamlessly insert virtual objects in an image sequence.  ...  From a broader point of view, this is a motion tracking issue.  ... 
doi:10.1109/tvcg.2015.2513408 pmid:26731768 fatcat:bfjyhmasefcrvcihzit323hxou

Goal-Driven Robotic Pushing Using Tactile and Proprioceptive Feedback [article]

John Lloyd, Nathan F. Lepora
2021 arXiv   pre-print
In this study, we propose a reactive and adaptive method for robotic pushing that uses rich feedback from a high-resolution optical tactile sensor to control push movements instead of relying on analytical  ...  pusher and object towards the target.  ...  This work was supported by an award from the Leverhulme Trust on 'A biomimetic forebrain for robot touch' (RL-2016-39).  ... 
arXiv:2012.01859v3 fatcat:sclps6mpqbdpliv7jp47bfawqq

Author Index

2010 2010 IEEE Computer Society Conference on Computer Vision and Pattern Recognition  
3D Shape Scanning with a Time-of-Flight Camera Unsupervised Learning of Invariant Features Using Video Real Time Motion Capture using a Single Time-Of-Flight Camera Tian, Tai-Peng Fast Globally  ...  Motion Model Vanegas, Carlos A.  ... 
doi:10.1109/cvpr.2010.5539913 fatcat:y6m5knstrzfyfin6jzusc42p54

Robot Visual Control [chapter]

François Chaumette
2015 Encyclopedia of Systems and Control  
It describes the modeling steps allowing the design of kinematics control schemes. Applications are also described.  ...  This article describes the basic concepts of vision-based control, that is, the use of visual data to control the motions of a robotics system.  ...  In that case, the 3D parameters have to be estimated from the image measurements either through a pose estimation process using the knowledge of the 3D target model, or through a partial pose estimation  ... 
doi:10.1007/978-1-4471-5058-9_170 fatcat:ifyyluhl4ra2zjga5xhbdgch4u

Robot Visual Control [chapter]

François Chaumette
2013 Encyclopedia of Systems and Control  
It describes the modeling steps allowing the design of kinematics control schemes. Applications are also described.  ...  This article describes the basic concepts of vision-based control, that is, the use of visual data to control the motions of a robotics system.  ...  In that case, the 3D parameters have to be estimated from the image measurements either through a pose estimation process using the knowledge of the 3D target model, or through a partial pose estimation  ... 
doi:10.1007/978-1-4471-5102-9_170-1 fatcat:fpuwat6pgzefngbapm7c7t7pje

Real-time markerless tracking for augmented reality: the virtual visual servoing framework

A.I. Comport, E. Marchand, M. Pressigout, F. Chaumette
2006 IEEE Transactions on Visualization and Computer Graphics  
A local moving edges tracker is used in order to provide real-time tracking of points normal to the object contours.  ...  Tracking is a very important research subject in a real-time augmented reality context. The main requirements for trackers are high accuracy and little latency at a reasonable cost.  ...  Real-Time Markerless Tracking When dealing with 3D camera localization or pose computation, most of the approaches proposed in the literature rely on a 3D registration issue.  ... 
doi:10.1109/tvcg.2006.78 pmid:16805268 fatcat:ggbsfujbane6ffx36664gy74lq

Let's Push Things Forward: A Survey on Robot Pushing [article]

Jochen Stüber, Claudio Zito, Rustam Stolkin
2019 arXiv   pre-print
Beginning with analytical approaches, under which we also subsume physics engines, we then proceed to discuss work on learning models from data.  ...  With this regard, pushing is an essential motion primitive that dramatically extends a robot's manipulation repertoire. In this work, we review the robotic pushing literature.  ...  In real-world experiments with Baxter, their model is used to move objects to target locations by poking. In order to cope with the real world, their model requires training on large amounts of data.  ... 
arXiv:1905.05138v1 fatcat:cpigrmrsf5dczeuk4pouwsrqbu

SIMBICON

KangKang Yin, Kevin Loken, Michiel van de Panne
2007 ACM Transactions on Graphics  
Figure 1 : Real-time physics-based character simulation with our framework. (a) A single controller for a planar biped responds to unanticipated changes in terrain.  ...  (b) A walk controller reconstructed from motion capture data responds to a 350N, 0.2s diagonal push to the torso.  ...  We also thank Peng Zhao for discussions and help with the 3D simulation software, and the anonymous reviewers for their many helpful comments.  ... 
doi:10.1145/1239451.1239556 fatcat:g4vktxexmzgynfurlkyt3o6mvu

SIMBICON

KangKang Yin, Kevin Loken, Michiel van de Panne
2007 ACM Transactions on Graphics  
Figure 1 : Real-time physics-based character simulation with our framework. (a) A single controller for a planar biped responds to unanticipated changes in terrain.  ...  (b) A walk controller reconstructed from motion capture data responds to a 350N, 0.2s diagonal push to the torso.  ...  We also thank Peng Zhao for discussions and help with the 3D simulation software, and the anonymous reviewers for their many helpful comments.  ... 
doi:10.1145/1276377.1276509 fatcat:sgiunehitnb3pn3ppbyoscjbrq
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