Related papers: Event-based Stereo Visual Odometry
Event-based cameras are increasingly utilized in various applications, owing to their high temporal resolution and low power consumption. However, a fundamental challenge arises when deploying multiple such cameras: they operate on…
Tracking the position and orientation of objects in space (i.e., in 6-DoF) in real time is a fundamental problem in robotics for environment interaction. It becomes more challenging when objects move at high-speed due to frame rate…
Despite the promise of superior performance under challenging conditions, event-based motion estimation remains a hard problem owing to the difficulty of extracting and tracking stable features from event streams. In order to robustify the…
Event-based vision sensors mimic the operation of biological retina and they represent a major paradigm shift from traditional cameras. Instead of providing frames of intensity measurements synchronously, at artificially chosen rates,…
Event cameras are bio-inspired sensors that offer advantages over traditional cameras. They operate asynchronously, sampling the scene at microsecond resolution and producing a stream of brightness changes. This unconventional output has…
This paper presents EROAM, a novel event-based rotational odometry and mapping system that achieves real-time, accurate camera rotation estimation. Unlike existing approaches that rely on event generation models or contrast maximization,…
With the increasing complexity of mobile device applications, these devices are evolving toward high agility. This shift imposes new demands on mobile sensing, particularly in achieving high-accuracy and low-latency. Event-based vision has…
Because of their high temporal resolution, increased resilience to motion blur, and very sparse output, event cameras have been shown to be ideal for low-latency and low-bandwidth feature tracking, even in challenging scenarios. Existing…
Event cameras are a novel type of biologically inspired vision sensor known for their high temporal resolution, high dynamic range, and low power consumption. Because of these properties, they are well-suited for processing fast motions…
Pose estimation and map building are central ingredients of autonomous robots and typically rely on the registration of sensor data. In this paper, we investigate a new metric for registering images that builds upon on the idea of the…
Event-based cameras are bio-inspired sensors with pixels that independently and asynchronously respond to brightness changes at microsecond resolution, offering the potential to handle visual tasks in challenging scenarios. However, due to…
Event cameras are bio-inspired vision sensors that asynchronously measure per-pixel brightness changes.The high-temporal resolution and asynchronicity of event cameras offer great potential for estimating robot motion states. Recent works…
Event-based cameras, inspired by the biological retina, have evolved into cutting-edge sensors distinguished by their minimal power requirements, negligible latency, superior temporal resolution, and expansive dynamic range. At present,…
Object pose tracking is a fundamental and essential task for robotics to perform tasks in the home and industrial settings. The most commonly used sensors to do so are RGB-D cameras, which can hit limitations in highly dynamic environments…
This paper presents a robust approach for a visual parallel tracking and mapping (PTAM) system that excels in challenging environments. Our proposed method combines the strengths of heterogeneous multi-modal visual sensors, including stereo…
Different from visible cameras which record intensity images frame by frame, the biologically inspired event camera produces a stream of asynchronous and sparse events with much lower latency. In practice, visible cameras can better…
We present a new dataset to evaluate monocular, stereo, and plenoptic camera based visual odometry algorithms. The dataset comprises a set of synchronized image sequences recorded by a micro lens array (MLA) based plenoptic camera and a…
In this work, we present optical space imaging using an unconventional yet promising class of imaging devices known as neuromorphic event-based sensors. These devices, which are modeled on the human retina, do not operate with frames, but…
Event camera is a new type of sensor that is different from traditional cameras. Each pixel is triggered asynchronously by an event. The trigger event is the change of the brightness irradiated on the pixel. If the increment or decrement is…
The event camera is a novel bio-inspired vision sensor. When the brightness change exceeds the preset threshold, the sensor generates events asynchronously. The number of valid events directly affects the performance of event-based tasks,…