深層アライメントとGRUベースの遮蔽復元を備えたハイブリッドビジュアルサーボ
Hybrid Vision Servoing with Depp Alignment and GRU-Based Occlusion Recovery
深層特徴量とLucas-Kanade法を組み合わせ、GRUで遮蔽時の追跡を補完するハイブリッド視覚追跡を提案し、90%の遮蔽下でも2px以下の誤差で30Hzのサーボ制御を実現した。
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著者: Jee Won Lee, Hansol Lim, Sooyeun Yang, Jongseong Brad Choi
分類: cs.RO
原文アブストラクト
Vision-based control systems, such as image-based visual servoing (IBVS), have been extensively explored for precise robot manipulation. A persistent challenge, however, is maintaining robust target tracking under partial or full occlusions. Classical methods like Lucas-Kanade (LK) offer lightweight tracking but are fragile to occlusion and drift, while deep learning-based approaches often require continuous visibility and intensive computation. To address these gaps, we propose a hybrid visual tracking framework that bridges advanced perception with real-time servo control. First, a fast global template matcher constrains the pose search region; next, a deep-feature Lucas-Kanade module operating on early VGG layers refines alignment to sub-pixel accuracy (<2px); then, a lightweight residual regressor corrects local misalignments caused by texture degradation or partial occlusion. When visual confidence falls below a threshold, a GRU-based predictor seamlessly extrapolates pose updates from recent motion history. Crucially, the pipeline's final outputs-translation, rotation, and scale deltas-are packaged as direct control signals for 30Hz image-based servo loops. Evaluated on handheld video sequences with up to 90% occlusion, our system sustains under 2px tracking error, demonstrating the robustness and low-latency precision essential for reliable real-world robot vision applications.
