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Robotic vision plays a major role in factory automation to service robot applications. However, the traditional use of frame-based camera sets a limitation on continuous visual feedback due to their low sampling rate and redundant data in real-time image processing, especially in the case of high-speed tasks. Event cameras give human-like vision capabilities such as observing the dynamic changes asynchronously at a high temporal resolution ($1mu s$) with low latency and wide dynamic range. In this paper, we present a visual servoing method using an event camera and a switching control strategy to explore, reach and grasp to achieve a manipulation task. We devise three surface layers of active events to directly process stream of events from relative motion. A purely event based approach is adopted to extract corner features, localize them robustly using heat maps and generate virtual features for tracking and alignment. Based on the visual feedback, the motion of the robot is controlled to make the temporal upcoming event features converge to the desired event in spatio-temporal space. The controller switches its strategy based on the sequence of operation to establish a stable grasp. The event based visual servoing (EVBS) method is validated experimentally using a commercial robot manipulator in an eye-in-hand configuration. Experiments prove the effectiveness of the EBVS method to track and grasp objects of different shapes without the need for re-tuning.
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. Motivated by recent breakthroughs in
Ophthalmic microsurgery is known to be a challenging operation, which requires very precise and dexterous manipulation. Image guided robot-assisted surgery (RAS) is a promising solution that brings significant improvements in outcomes and reduces the
Existing deep learning based visual servoing approaches regress the relative camera pose between a pair of images. Therefore, they require a huge amount of training data and sometimes fine-tuning for adaptation to a novel scene. Furthermore, current
The simplicity of the visual servoing approach makes it an attractive option for tasks dealing with vision-based control of robots in many real-world applications. However, attaining precise alignment for unseen environments pose a challenge to exist
We present a method to autonomously land an Unmanned Aerial Vehicle on a moving vehicle with a circular (or elliptical) pattern on the top. A visual servoing controller approaches the ground vehicle using velocity commands calculated directly in imag