Related papers: Globally Optimal Contrast Maximisation for Event-b…
Ensuring robust and real-time obstacle avoidance is critical for the safe operation of autonomous robots in dynamic, real-world environments. This paper proposes a neural network framework for predicting the time and collision position of…
The dynamic range limitation of conventional RGB cameras reduces global contrast and causes loss of high-frequency details such as textures and edges in complex traffic environments (e.g., nighttime driving, tunnels), hindering…
This work addresses the issue of motion compensation and pattern tracking in event camera data. An event camera generates asynchronous streams of events triggered independently by each of the pixels upon changes in the observed intensity.…
Despite significant advances in algorithms and hardware, global illumination continues to be a challenge in the real-time domain. Time constraints often force developers to either compromise on the quality of global illumination or…
Accurate velocity estimation is critical in mobile robotics, particularly for driver assistance systems and autonomous driving. Wheel odometry fused with Inertial Measurement Unit (IMU) data is a widely used method for velocity estimation;…
This paper deals with a network of computing agents aiming to solve an online optimization problem in a distributed fashion, i.e., by means of local computation and communication, without any central coordinator. We propose the gradient…
In this work, we introduce the first framework for Motion-aware Event Suppression, which learns to filter events triggered by IMOs and ego-motion in real time. Our model jointly segments IMOs in the current event stream while predicting…
We present a novel algorithm for online, real-time orientation estimation. Our algorithm integrates gyroscope data and corrects the resulting orientation estimate for integration drift using accelerometer and magnetometer data. This…
Event cameras deliver visual information characterized by a high dynamic range and high temporal resolution, offering significant advantages in estimating optical flow for complex lighting conditions and fast-moving objects. Current…
Event cameras respond primarily to edges--formed by strong gradients--and are thus particularly well-suited for line-based motion estimation. Recent work has shown that events generated by a single line each satisfy a polynomial constraint…
Event-based moving object detection is a challenging task, where static background and moving object are mixed together. Typically, existing methods mainly align the background events to the same spatial coordinate system via motion…
Traditional visual-inertial state estimation targets absolute camera poses and spatial landmark locations while first-order kinematics are typically resolved as an implicitly estimated sub-state. However, this poses a risk in velocity-based…
Estimating the 6-DoF pose of a camera from a single image relative to a pre-computed 3D point-set is an important task for many computer vision applications. Perspective-n-Point (PnP) solvers are routinely used for camera pose estimation,…
Event-based vision encodes dynamic scenes as asynchronous spatio-temporal spikes called events. To leverage conventional image processing pipelines, events are typically binned into frames. However, binning functions are discontinuous,…
Mobile robots are reaching unprecedented speeds, with platforms like Unitree B2, and Fraunhofer O3dyn achieving maximum speeds between 5 and 10 m/s. However, effectively utilizing such speeds remains a challenge due to the limitations of…
An algorithm is presented for momentum gradient descent optimization based on the first-order differential equation of the Newtonian dynamics. The fictitious mass is introduced to the dynamics of momentum for regularizing the adaptive…
Panoramic video is a sort of video recorded at the same point of view to record the full scene. With the development of video surveillance and the requirement for 3D converged video surveillance in smart cities, CPU and GPU are required to…
A comparative study of different block matching alternatives for motion estimation is presented. The study is focused on computational burden and objective measures on the accuracy of prediction. Together with existing algorithms several…
Event cameras have a lot of advantages over traditional cameras, such as low latency, high temporal resolution, and high dynamic range. However, since the outputs of event cameras are the sequences of asynchronous events overtime rather…
In human-robot collaboration, there has been a trade-off relationship between the speed of collaborative robots and the safety of human workers. In our previous paper, we introduced a time-optimal path tracking algorithm designed to…