The SIRSLab Vision Group works with both vision sensors and robotics. Research activity deals also with medical applications.
Our research topics focus on the use of visual information for autonomous robot navigation. The use of visual sensors enables non-contact measurement of the environment and strengthens the robot performances when included in the control loop. We developed new algorithms for visual servoing in completely unstructured environments only processing visual information. This research has applications in many areas, including autonomous navigation in hazardous or remote environments.
Vision & Robotics Group People
Research topics
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Kuka Control Toolbox
The KUKA Control Toolbox (KCT) is a collection of MATLAB functions developed at the University of Siena, for motion control of KUKA robot manipulators. The toolbox, which is compatible with all 6 DOF small and low payload KUKA robots that use the Eth.RSIXML, runs on a remote computer connected with the KUKA controller via TCP/IP. Visit also the page: http://sirslab.dii.unisi.it/vision/kct.html |
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Planar Catadioptric Stereo Vision
Planar Catadioptric Stereo vision sensors (PCS) combine a pinhole camera with two or more planar mirrors. We propose new multi-view properties for PCS and address the image-based camera localization, mirror calibration and 3-D scene reconstruction problems. |
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Uncalibrated Paracatadioptric Visual Compass
Due to their panoramic field of view, paracatadioptric cameras are becoming ubiquitous in many robotics applications. We present new multi-view properties for paracatadioptric cameras that we use to design a visual compass algorithm for the estimation of the z-axis camera rotation angle. The proposed algorithm only needs the image projection of 3-D parallel lines, does not require any prior knowledge on the internal camera parameters, is robust to noise data and suitable for a real-time implementation. |
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Vision-based Localization and Control of Multi-Robot Formations*
We present a multi-robot (leader-follower) framework where each robot is equipped only with a panoramic camera addressing both the problems of vision-based observability (and localization) and control, also. * In cooperation with Kostas Daniilidis and George J. Pappas (GRASP Lab, UPENN, USA) |
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The Epipolar Geometry Toolbox (EGT)
The Epipolar Geometry Toolbox (EGT) is a toolbox designed for MATLAB. Combined with interactive Matlab environment and advanced graphical functions, EGT provides a wide set of functions to approach multi-view computer vision problems for both pinhole and central catadioptric cameras. EGT allows to design also visual servoing simulations also in real experiments. Visit also the page: http://egt.dii.unisi.it/ |
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Image-based Visual Servoing for Mobile Robot Using Epipolar Geometry*
We present an image-based visual servoing strategy for asymptotically driving a mobile robot equipped with a partially uncalibrated pinhole camera toward a target position. Our approach uses the epipolar geometry and does not need any knowledge of the 3-D scene geometry. * In cooperation with Giuseppe Oriolo (”La Sapienza”, Rome, ITALY) |
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Image-based Visual Servoing for Central Catadioptric Cameras
We present an image-based visual servoing strategy for a holonomic mobile robot equipped with a central catadioptric camera. This kind of vision sensor combines lens and mirrors to enlarge the field of view. The proposed visual servoing is mainly based on the auto-epipolar condition. |
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