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BRAVE-6D: Benchmark for Robotic Active Vision in 6DOF Pose Estimation
Philipp Ausserlechner, Bernhard Neuberger, Alessandro Scherl +3
Detecting and grasping small objects remains a significant challenge in robotics. Active vision, where the robot moves closer to the object, is an intuitive solution, yet comparing…
ART-VS: Adaptive Resolution Tiling for Vision Transformer Visual Servoing
Alessandro Scherl, Bernhard Neuberger, Simon Schwaiger +3
Visual servoing with self-supervised Vision Transformer (ViT) features enables training-free robotic positioning with strong generalization, but faces a fundamental trade-off betwe…
ViT-VS: On the Applicability of Pretrained Vision Transformer Features for Generalizable Visual Servoing
Alessandro Scherl, Stefan Thalhammer, Bernhard Neuberger +2
Visual servoing enables robots to precisely position their end-effector relative to a target object. While classical methods rely on hand-crafted features and thus are universally…