概要
DVS-Straight is an international collaboration project funded by the ITH department of AIST. In this project, CNRS-AIST JRL is partnering with UTBM, CIAD lab (France) and UPJV, MIS lab (France) with the aim of mastering the robot trajectories during image-based visual servoing directly using the dense brightness of captured images as input of the control law (Direct Visual Servoing: DVS). Indeed, DVS is first known for its submillimetric precision and recently for a quite large convergence domain, e.g. with DDVS. However, trajectories are not always satisfactory.
The goals are:
- To develop an international network of labs and researchers to work on the DVS-Straight topic
- To exploit better the control theory for improving the conditioning
- To encapsulate DVS in multi-objective control frameworks for condisering explicit trajectory constraints
- To research the optimal field-of-view maximizing the motion perceptibility
A series of international workshops will be organized to share the research, the results and the open-source software as well as to develop the research community on these topics.
PI
Guillaume Caron実施期間
2021.10-2025.3資金提供
AIST ITH発表論文
| タイトル | 著者 | 学会/論文誌 | 年 | bib | |
| Dual-Hemispherical Photometric Visual Servoing | N. Crombez, J. Buisson, A. André, G. Caron | IEEE Robotics and Automation Letters | 2024 | ||
| A Study on Learned Feature Maps Toward Direct Visual Servoing | M. Quaccia, A. André, Y. Yoshiyasu, G. Caron | IEEE/SICE International Symposium on System Integration | 2024 | ||
| A mathematical characterization of the convergence domain for Direct Visual Servoing | M. Naamani, G. Caron, M. Morisawa, El Mouaddib | IEEE/RSJ International Conference on Intelligent Robots and Systems | 2024 | ||
| Visual Gyroscope: Combination of Deep Learning Features and Direct Alignment for Panoramic Stabilization | B. Berenguel-Baeta, A. André, G. Caron, J. Bermudez-Cameo, J. Guerrero | IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops | 2023 | ||
| Photometric Visual Gyroscope for Full-View Spherical Camera | A. André, G. Caron | IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops | 2022 | ||
| Direct Visual Servoing in the non-linear scale space of camera pose | G. Caron, Y. Yoshiyasu | IAPR/IEEE International Conference on Pattern Recognition | 2022 |
