FRINK Linked Data Fragments server

Matches in SemOpenAlex for { <https://semopenalex.org/work/W4312521235> ?p ?o ?g. }

• W4312521235 abstract "One of the challenging input settings for visual servoing is when the initial and goal camera views are far apart. Such settings are difficult because the wide baseline can cause drastic changes in object appearance and cause occlusions. This paper presents a novel self-supervised visual servoing method for wide baseline images which does not require 3D ground truth supervision. Existing approaches that regress absolute camera pose with respect to an object require 3D ground truth data of the object in the forms of 3D bounding boxes or meshes. We learn a coherent visual representation by leveraging a geometric property called 3D equivariance—the representation is transformed in a predictable way as a function of 3D transformation. To ensure that the feature-space is faithful to the underlying geodesic space, a geodesic preserving constraint is applied in conjunction with the equivariance. We design a Siamese network that can effectively enforce these two geometric properties without requiring 3D supervision. With the learned model, the relative transformation can be inferred simply by following the gradient in the learned space and used as feedback for closed-loop visual servoing. Our method is evaluated on objects from the YCB dataset, showing meaningful outperformance on a visual servoing task, or object alignment task with respect to state-of-the-art approaches that use 3D supervision. Ours yields more than 35% average distance error reduction and more than 90% success rate with 3cm error tolerance." @default.
• W4312521235 created "2023-01-05" @default.
• W4312521235 creator A5000951599 @default.
• W4312521235 creator A5012069012 @default.
• W4312521235 creator A5020627389 @default.
• W4312521235 creator A5033839227 @default.
• W4312521235 creator A5041458715 @default.
• W4312521235 date "2022-10-23" @default.
• W4312521235 modified "2023-10-16" @default.
• W4312521235 title "Self-supervised Wide Baseline Visual Servoing via 3D Equivariance" @default.
• W4312521235 cites W1607376109 @default.
• W4312521235 cites W2082991751 @default.
• W4312521235 cites W2129000642 @default.
• W4312521235 cites W2151103935 @default.
• W4312521235 cites W2167501464 @default.
• W4312521235 cites W2194775991 @default.
• W4312521235 cites W2198618282 @default.
• W4312521235 cites W2200124539 @default.
• W4312521235 cites W2522940611 @default.
• W4312521235 cites W2592936284 @default.
• W4312521235 cites W2795645133 @default.
• W4312521235 cites W2910687636 @default.
• W4312521235 cites W2922243907 @default.
• W4312521235 cites W2963150697 @default.
• W4312521235 cites W3003339604 @default.
• W4312521235 cites W3045988483 @default.
• W4312521235 cites W3092152581 @default.
• W4312521235 cites W3102327032 @default.
• W4312521235 cites W3103648783 @default.
• W4312521235 cites W3147149346 @default.
• W4312521235 cites W4207020220 @default.
• W4312521235 doi "https://doi.org/10.1109/iros47612.2022.9981907" @default.
• W4312521235 hasPublicationYear "2022" @default.
• W4312521235 type Work @default.
• W4312521235 citedByCount "0" @default.
• W4312521235 crossrefType "proceedings-article" @default.
• W4312521235 hasAuthorship W4312521235A5000951599 @default.
• W4312521235 hasAuthorship W4312521235A5012069012 @default.
• W4312521235 hasAuthorship W4312521235A5020627389 @default.
• W4312521235 hasAuthorship W4312521235A5033839227 @default.
• W4312521235 hasAuthorship W4312521235A5041458715 @default.
• W4312521235 hasBestOaLocation W43125212352 @default.
• W4312521235 hasConcept C104317684 @default.
• W4312521235 hasConcept C10912380 @default.
• W4312521235 hasConcept C115961682 @default.
• W4312521235 hasConcept C138885662 @default.
• W4312521235 hasConcept C146849305 @default.
• W4312521235 hasConcept C154945302 @default.
• W4312521235 hasConcept C17744445 @default.
• W4312521235 hasConcept C185592680 @default.
• W4312521235 hasConcept C199539241 @default.
• W4312521235 hasConcept C204241405 @default.
• W4312521235 hasConcept C2524010 @default.
• W4312521235 hasConcept C2776036281 @default.
• W4312521235 hasConcept C2776359362 @default.
• W4312521235 hasConcept C2776401178 @default.
• W4312521235 hasConcept C2781238097 @default.
• W4312521235 hasConcept C31972630 @default.
• W4312521235 hasConcept C33923547 @default.
• W4312521235 hasConcept C41008148 @default.
• W4312521235 hasConcept C41895202 @default.
• W4312521235 hasConcept C55493867 @default.
• W4312521235 hasConcept C94625758 @default.
• W4312521235 hasConceptScore W4312521235C104317684 @default.
• W4312521235 hasConceptScore W4312521235C10912380 @default.
• W4312521235 hasConceptScore W4312521235C115961682 @default.
• W4312521235 hasConceptScore W4312521235C138885662 @default.
• W4312521235 hasConceptScore W4312521235C146849305 @default.
• W4312521235 hasConceptScore W4312521235C154945302 @default.
• W4312521235 hasConceptScore W4312521235C17744445 @default.
• W4312521235 hasConceptScore W4312521235C185592680 @default.
• W4312521235 hasConceptScore W4312521235C199539241 @default.
• W4312521235 hasConceptScore W4312521235C204241405 @default.
• W4312521235 hasConceptScore W4312521235C2524010 @default.
• W4312521235 hasConceptScore W4312521235C2776036281 @default.
• W4312521235 hasConceptScore W4312521235C2776359362 @default.
• W4312521235 hasConceptScore W4312521235C2776401178 @default.
• W4312521235 hasConceptScore W4312521235C2781238097 @default.
• W4312521235 hasConceptScore W4312521235C31972630 @default.
• W4312521235 hasConceptScore W4312521235C33923547 @default.
• W4312521235 hasConceptScore W4312521235C41008148 @default.
• W4312521235 hasConceptScore W4312521235C41895202 @default.
• W4312521235 hasConceptScore W4312521235C55493867 @default.
• W4312521235 hasConceptScore W4312521235C94625758 @default.
• W4312521235 hasLocation W43125212351 @default.
• W4312521235 hasLocation W43125212352 @default.
• W4312521235 hasOpenAccess W4312521235 @default.
• W4312521235 hasPrimaryLocation W43125212351 @default.
• W4312521235 hasRelatedWork W2051826626 @default.
• W4312521235 hasRelatedWork W2118183560 @default.
• W4312521235 hasRelatedWork W2331674254 @default.
• W4312521235 hasRelatedWork W2775473286 @default.
• W4312521235 hasRelatedWork W286997960 @default.
• W4312521235 hasRelatedWork W2979079341 @default.
• W4312521235 hasRelatedWork W4293869118 @default.
• W4312521235 hasRelatedWork W4366330678 @default.
• W4312521235 hasRelatedWork W2107326529 @default.
• W4312521235 hasRelatedWork W2152244067 @default.
• W4312521235 isParatext "false" @default.
• W4312521235 isRetracted "false" @default.

• next