DFVS: Deep Flow Guided Scene Agnostic Image Based Visual Servoing
| Autor: | Y V S Harish, K. Madhava Krishna, Shreya Terupally, Ayush Gaud, Sai Shankar, Harit Pandya |
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| Rok vydání: | 2020 |
| Předmět: |
FOS: Computer and information sciences
Computer Science - Machine Learning 0209 industrial biotechnology Artificial neural network business.industry Computer science Deep learning Computer Vision and Pattern Recognition (cs.CV) Computer Science - Computer Vision and Pattern Recognition Optical flow 02 engineering and technology Visual servoing Visualization Machine Learning (cs.LG) Computer Science - Robotics 020901 industrial engineering & automation Benchmark (computing) Robot Computer vision Artificial intelligence business Robotics (cs.RO) |
| Zdroj: | ICRA |
| DOI: | 10.48550/arxiv.2003.03766 |
| Popis: | 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 approaches do not consider underlying geometry of the scene and rely on direct estimation of camera pose. Thus, inaccuracies in prediction of the camera pose, especially for distant goals, lead to a degradation in the servoing performance. In this paper, we propose a two-fold solution: (i) We consider optical flow as our visual features, which are predicted using a deep neural network. (ii) These flow features are then systematically integrated with depth estimates provided by another neural network using interaction matrix. We further present an extensive benchmark in a photo-realistic 3D simulation across diverse scenes to study the convergence and generalisation of visual servoing approaches. We show convergence for over 3m and 40 degrees while maintaining precise positioning of under 2cm and 1 degree on our challenging benchmark where the existing approaches that are unable to converge for majority of scenarios for over 1.5m and 20 degrees. Furthermore, we also evaluate our approach for a real scenario on an aerial robot. Our approach generalizes to novel scenarios producing precise and robust servoing performance for 6 degrees of freedom positioning tasks with even large camera transformations without any retraining or fine-tuning. Comment: Accepted in International Conference on Robotics and Automation (ICRA) 2020, IEEE |
| Databáze: | OpenAIRE |
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