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Projects: Embodiment

Interactive Computational Imaging for Deformable Object Analysis

  • Robot interaction as part of the imaging process
  • Visual material analysis: discriminating objects based on how they behave
  • Motion magnification for stiff and fragile objects

Image-based visual servoing with light field cameras

  • Exploits depth information in the light field without explicit depth estimation
  • Derivation of light field image Jacobians
  • Demonstration on robotic arm using a MirrorCam light field camera
  • Outperforms monocular and stereo methods for narrow-FOV and occluded scenes
  • D. Tsai, D. G. Dansereau, T. Peynot, and P. Corke, “Image-based visual servoing with light field cameras,” IEEE Robotics and Automation Letters (RA-L), vol. 2, no. 2, Apr. 2017. Available here.

Lunaroo

  • A hopping lunar explorer for telemetry and mapping
  • Project Page at juxi.net
  • J. Leitner, W. Chamberlain, D. G. Dansereau, M. Dunbabin, M. Eich, T. Peynot, J. Roberts, R. Russell, and N. Sünderhauf, “LunaRoo: Designing a hopping lunar science payload,” in IEEE Aerospace Conference, 2016. Available here.
  • T. Hojnik, R. Lee, D. G. Dansereau, and J. Leitner, “Designing a robotic hopping cube for lunar exploration,” in Australasian Conference on Robotics and Automation (ACRA), 2016. Available here.