Visual Servoing from Deep Neural Networks
We present a deep neural network-based method to perform high-precision, robust and real-time 6 DOF visual servoing. The paper describes how to create a dataset simulating various perturbations (occlusions and lighting conditions) from a single real-world image of the scene. A convolutional neural network is fine-tuned using this dataset to estimate the relative pose between two images of the same scene. The output of the network is then employed in a visual servoing control scheme. The method converges robustly even in difficult real-world settings with strong lighting variations and occlusions.A positioning error of less than one millimeter is obtained in experiments with a 6 DOF robot.
Code (0)
등록된 구현이 없습니다.
Similar Papers 제목 키워드 기반
A Closed-Loop Multi-perspective Visual Servoing Approach with Reinforcement Learning
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…
OpenAI Gymreinforcement-learningConditional Visual Servoing for Multi-Step Tasks
Visual Servoing has been effectively used to move a robot into specific target locations or to track a recorded demonstration. It does not require manual programming, but it is typically limited to settings where one dem…
Learning View and Target Invariant Visual Servoing for Navigation
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…
Deep Reinforcement LearningReinforcement LearningRobot NavigationPerception-Control Coupled Visual Servoing for Textureless Objects Using Keypoint-Based EKF
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, …
Keypoint DetectionExploring Convolutional Networks for End-to-End Visual Servoing
Present image based visual servoing approaches rely on extracting hand crafted visual features from an image. Choosing the right set of features is important as it directly affects the performance of any approach. Motiva…