14 accepted papers
Event cameras report asynchronous, per-pixel brightness changes with microsecond latency, making them attractive for high-speed 6-DoF object tracking. We present EDFT, a real-time 6-DoF object tracker that uses only a monocular event camera and a 3D model. At the core is an <italic xmlns:mml="http:/
Direct visual servoing (DVS) uses raw pixel intensities to control robot motion, yielding high accuracy at convergence. However, the associated photometric cost function is highly nonconvex, which leads to a narrow domain of convergence due to local minima. This work addresses that issue by adapting…
Direct Visual Servoing (DVS) is a technique that controls the robot motion by using the pixel intensities captured by a camera. DVS demonstrates high accuracy at convergence, prompting the development of various methods aimed at expanding its convergence domain.In this paper, we propose a mathematic…
It is well established that wide field of view cameras, as well as using the whole photometric information contained in images, offer many advantages for visual servoing. Therefore, we propose to extend the photometric visual servoing to full spherical cameras. More precisely, we are dealing with 36
On the one hand, cameras of conventional field-of-view usually considered in computer vision and robotics are very often modeled as a pinhole plus possibly a distortion model. On the other hand, there is a large variety of models for panoramic cameras. Many camera models have been proposed for fishe…
In this letter, we propose a novel dense 3D image alignment algorithm that estimates the Euclidean transformation between pairs of camera poses from pixel intensities. The novelty consists in the automatic scale adaptation within each level of a multi-resolution image pyramid, using the scale-space
Direct Visual Servoing (DVS) considers pixel brightness directly as input of robot control. Recent DVS variants consider image processing as smoothing or frequency domain transforms, resulting in large convergence domains. This letter proposes to consider defocus to optically smooth images without p
This paper presents the design method to optically extend the perceptible dynamic range of panoramic vision for robotics. The large range of scene radiance is captured in real-time by a combination of paraboloidal mirrors, a telecentric lens and neutral density filters. The first prototype made of 4
We present a vision-based navigation system that uses a visual memory to navigate. Such memory corresponds to a topological map of key images created from moving a virtual camera over a model of the real scene. The advantage of our approach is that it provides a useful insight into the navigability…
A light-field camera can obtain richer information about a scene than a usual camera. This property offers a lot of potential for robot vision. In this letter, we present a method for pose estimation of a planar object with a light-field camera. The light-field camera can be regarded as a set of sub
In this paper, we present a new direct omnidirectional visual gyroscope for mobile robotic platforms. The gyroscope estimates the 3D orientation of a camera-robot by comparing the current spherical image with that acquired at a reference pose. By transforming pixel intensities into a Mixture of Phot…
In this paper, we present a new omnidirectional visual compass for a camera-robot, based on the phase correlation method in the two-dimensional Fourier domain. The proposed visual compass is accurate, robust to image noise, and frugal in the use of computational resources. Moreover, unlike the major
In this paper, we present a new automatic camera control to achieve a relevant information framing. This camera control will be performed using a visual servoing framework in order to reach a salient area in a plane and in space. The relevant framing will be modelled by maximizing the saliency-based…
The advantages of using the entire photometric image information as visual feature are: it does not require any feature detections, matching or tracking process. To enlarge the convergence domain, we propose to accomplish visual servoing based on the analytical formulation of Gaussian mixtures to mo…