Visual Servoing from Deep Neural Networks

We present a deep neural network-based method to perform high-precision, robust and real-time 6 DOF visual servoing. The paper describes how to create a dataset simulating various perturbations (occlusions and lighting conditions) from a single real-world image of the scene. A convolutional neural network is fine-tuned using this dataset to estimate the relative pose between two images of the same scene. The output of the network is then employed in a visual servoing control scheme. The method converges robustly even in difficult real-world settings with strong lighting variations and occlusions.A positioning error of less than one millimeter is obtained in experiments with a 6 DOF robot.Comment: fixed authors lis

Secure Autonomous UAVs Fleets by Using New Specific Embedded Secure Elements

International audienc

An efficient, secure and trusted channel protocol for avionics wireless networks

Avionics networks rely on a set of stringent reliability and safety requirements. In existing deployments, these networks are based on a wired technology, which supports these requirements. Furthermore, this technology simplifies the security management of the network since certain assumptions can be safely made, including the inability of an attacker to access the network, and the fact that it is almost impossible for an attacker to introduce a node into the network. The proposal for Avionics Wireless Networks (AWNs), currently under development by multiple aerospace working groups, promises a reduction in the complexity of electrical wiring harness design and fabrication, a reduction in the total weight of wires, increased customization possibilities, and the capacity to monitor otherwise inaccessible moving or rotating aircraft parts such as landing gear and some sections of the aircraft engines. While providing these benefits, the AWN must ensure that it provides levels of safety that are at minimum equivalent to those offered by the wired equivalent. In this paper, we propose a secure and trusted channel protocol that satisfies the stated security and operational requirements for an AWN protocol. There are three main objectives for this protocol. First, the protocol has to provide the assurance that all communicating entities can trust each other, and can trust their internal (secure) software and hardware states. Second, the protocol has to establish a fair key exchange between all communicating entities so as to provide a secure channel. Finally, the third objective is to be efficient for both the initial start-up of the network and when resuming a session after a cold and/or warm restart of a node. The proposed protocol is implemented and performance measurements are presented based on this implementation. In addition, we formally verify our proposed protocol using CasperFDR.Comment: 10 pages, 2 figures, 4 tables, IEEE DAS

Suivi robuste d'objets en temps-réel : une approche hybride 2D-3D

Dans cet article, nous présentons une méthode originale de suivi d'objets complexes approximativement modélisés par un polyèdre. L'approche repose sur l'estimation du mouvement de l'objet dans l'image, ainsi que sur un calcul de pose. La méthode proposée permet un suivi fiable et robuste en temps réel comme le montrent les résultats présentés

Features Tracking For Visual Servoing Purpose

Elaboration of objects tracking algorithms in image sequences is an important issue for research and application related to visual servoing and more generally for robot vision. A robust extraction and real-time spatiotemporal tracking process of visual cue is indeed one of the keys to success, or to failure, of a visual servoing task. To consider visual servoing within large scale applications, it is now fundamental to consider natural scenes without any fiducial markers and with complex objects in various illumination conditions. In this paper we give an overview of a few tracking algorithms developed for visual servoing experiments at IRISA-INRIA Rennes

Recent Results in Visual Servoing for Robotics Applications

This paper presents new advances in the field of visual servoing for robot positioning tasks with respect to complex objects. A pose estimation and tracking algorithm is described to deal with real objects whose 3D model is known

A New Redundancy-based Iterative Scheme for Avoiding Joint Limits Application to Visual Servoing

We propose in this paper new redundancy-based solutions to avoid robot joint limits of a manipulator. We use a control scheme based on the task function approach. We first recall the classical gradient projection approach and we then present a far more efficient method that relies on the iterative computation of motion that does not affect the task achievement and ensures the avoidance problem. We apply this new method in a visual servoing application and we demonstrate on various real experiments the validity of the approach

Theoretical Improvements in the Stability Analysis of a New Class of Model-Free Visual Servoing Methods

This paper concerns the stability analysis of a new class of model-free visual servoing methods. These methods are "model-free" since they are based on the estimation of the relative camera orientation between two views of an object without knowing its 3D model. The visual servoing is decoupled by controlling the rotation of the camera separately from the rest of the system. The way the remaining degrees of freedom are controlled di#erentiates the methods within the class. For all the methods of the class, the robustness with respect to both camera and hand-eye calibration errors can be analytically studied. In some cases, necessary and su#cient conditions can be found not only for the local asymptotic stability but also for the global asymptotic stability. In the other cases, simple conditions on the calibration errors are su#cient to ensure the global asymptotic stability of the control law. In addition to the theoretical proof of the stability, the experimental results prove the validity of the control strategy proposed in the paper

Application of Moment Invariants to Visual Servoing

In this paper, we present how moment invariants can be used to design a decoupled 2D visual servoing scheme and to minimize the nonlinearity of the interaction matrix related to the selected visual features. Experimental results using a 6 dof eye-in-hand system to position a camera parallel to planar objects of complex shape are presented to demonstrate the efficiency of the proposed method. I