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Visual information is heavily used in robotics, in particular for SLAM applications. Visual SLAM algorithms depend on robust feature extraction and reliable state estimation. Quality of the visual information highly depends on how that information is captured. The nature of snake robots' locomotion presents considerable challenges on the quality of images captured by an onboard mobile camera. Although...
This paper proposes a novel approach to generate trajectories that generalize given demonstrations according to optimality criteria. By formulating the problem as a quadratic program we can efficiently incorporate constraints to adapt to new desired motion requirements while achieving the main goal of matching the acceleration profile of the demonstration. This makes our method particularly suited...
We integrate software components that allow efficient and successful grasping of kitchenware objects. The contributed components include: The object pose detector, the gripper reaching motion and the grasp hypothesis selection. The object pose detector of Drost et. al. [10] is improved, considering rotationally symmetric objects. The reaching motion execution combines two independent dynamical systems:...
We address the problem of incrementally recovering a matrix of tracked image points, based on partial observations of their trajectories. Besides partial observability, we assume the existence of gross, but sparse, noise on the known entries. This problem has obvious applications in real-time tracking and structure from motion, where observations are plagued by self-occlusion and outliers. Recently,...
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