Siame-se(3): regression in se(3) for end-to-end visual servoing
Samuel Felton, Élisa Fromont, Éric Marchand
Abstract
In this paper we propose a deep architecture and the associated learning strategy for end-to-end direct visual servoing. The considered approach allows to sequentially predict, in se(3), the velocity of a camera mounted on the robot’s end-effector for positioning tasks. Positioning is achieved with high precision despite large initial errors in both cartesian and image spaces. Training is fully done in simulation, alleviating the burden of data collection. We demonstrate the efficiency of our method in experiments in both simulated and real-world environments. We also show that the proposed approach is able to handle multiple scenes.
Topics & Concepts
Visual servoingArtificial intelligenceComputer scienceComputer visionEnd-to-end principleRobotCartesian coordinate systemRobot end effectorImage (mathematics)Face (sociological concept)MathematicsSociologySocial scienceGeometryAdvanced Vision and ImagingRobotics and Sensor-Based LocalizationAdvanced Image and Video Retrieval Techniques