10 accepted papers
This letter proposes a QP-based visual servoing scheme for limiting motion blur during the achievement of a visual task. Unlike traditional image restoration approaches, we want to avoid any deconvolution step by keeping the image sequence acquired by the camera as sharp as possible. To do so, we se
In this letter, we describe a novel roadmap construction method in unknown environments, which relies on the extraction of the Hamilton-Jacobi skeleton of the free space. This skeleton is used to construct a graph of free-space bubbles, effectively compressing the skeleton information in a sparse da
Most classical SLAM systems rely on the static scene assumption, which limits their applicability in real world scenarios. Recent SLAM frameworks have been proposed to simultaneously track the camera and moving objects. However they are often unable to estimate the canonical pose of the objects and
In this letter, we propose a novelbinary graph descriptor to improve loop detection for visual SLAM systems. Our contribution is twofold: i) a graph embedding technique for generating binary descriptors which conserve both spatial and histogram information extracted from images; ii) a generic mean o
Classical visual simultaneous localization and mapping (SLAM) algorithms usually assume the environment to be rigid. This assumption limits the applicability of those algorithms as they are unable to accurately estimate the camera poses and world structure in real life scenes containing moving objec
Visual servoing (VS) is a common way in robotics to control a robot motion usinginformation acquired by a camera. This approach requires to extract visual information from the image to design the control law. The resulting servo loop is built in order to minimize an error expressed in the image spac
Estimating the 3D pose of an object is a challenging task that can be considered within augmented reality or robotic applications. In this paper, we propose a novel approach to perform 6 DoF object pose estimation from a single RGB-D image. We adopt a hybrid pipeline in two stages: data-driven and g
In this letter, we propose an original approach to extend direct visual servoing to the frequency domain. Whereas most of visual servoing approaches relied on the geometric features, recent works have highlighted the importance of taking into account the photometric information of the entire images.
To date, most of visual servoing approaches have relied on the geometric features that have to be tracked and matched in the image. Recent works have highlighted the importance of taking into account the photometric information of the entire images. This leads to direct visual servoing (DVS) approac
In the direct visual servoing methods such as photometric framework, the images as a whole are used to define a control law. This can be opposed to the classical visual servoing approaches that relies on geometric features and where image processing algorithms that extract and track visual features