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Dynamic Vision Sensors (DVS) capture event data with high temporal resolution and low power consumption, presenting a more efficient solution for visual processing in dynamic and real-time scenarios compared to conventional video capture…
We present an empirical investigation of a new mapping system based on a graph of panoramic depth images. Panoramic images efficiently capture range measurements taken by a spinning lidar sensor, recording fine detail on the order of a few…
SLAM (Simultaneous Localization And Mapping) seeks to provide a moving agent with real-time self-localization. To achieve real-time speed, SLAM incrementally propagates position estimates. This makes SLAM fast but also makes it vulnerable…
Visual Simultaneous Localization and Mapping (SLAM) plays a crucial role in autonomous systems. Traditional SLAM methods, based on static environment assumptions, struggle to handle complex dynamic environments. Recent dynamic SLAM systems…
Event-based imaging is a neurmorphic detection technique whereby an array of pixels detects a positive or negative change in light intensity at each pixel, and is hence particularly well suited to detecting motion. As compared to standard…
Event cameras are a cutting-edge type of visual sensors that capture data by detecting brightness changes at the pixel level asynchronously. These cameras offer numerous benefits over conventional cameras, including high temporal…
This paper explores the potential of event cameras to enable continuous time reinforcement learning. We formalise this problem where a continuous stream of unsynchronised observations is used to produce a corresponding stream of output…
Event cameras provide rich signals that are suitable for motion estimation since they respond to changes in the scene. As any visual changes in the scene produce event data, it is paramount to classify the data into different motions (i.e.,…
Event cameras are bio-inspired vision sensors that output pixel-level brightness changes instead of standard intensity frames. They offer significant advantages over standard cameras, namely a very high dynamic range, no motion blur, and a…
Event cameras capture the world at high time resolution and with minimal bandwidth requirements. However, event streams, which only encode changes in brightness, do not contain sufficient scene information to support a wide variety of…
Fast and accurate depth sensing has long been a significant research challenge. Event camera, as a device that quickly responds to intensity changes, provides a new solution for structured light (SL) systems. In this paper, we introduce…
Autonomous swarms of multi-Unmanned Aerial Vehicle (UAV) system requires an accurate and fast relative state estimation. Although monocular frame-based camera methods perform well in ideal conditions, they are slow, suffer scale ambiguity,…
Visual Odometry (VO) and SLAM are fundamental components for spatial perception in mobile robots. Despite enormous progress in the field, current VO/SLAM systems are limited by their sensors' capability. Event cameras are novel visual…
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…
Event-based cameras record an asynchronous stream of per-pixel brightness changes. As such, they have numerous advantages over the standard frame-based cameras, including high temporal resolution, high dynamic range, and no motion blur. Due…
Traditional SLAM systems, which rely on bundle adjustment, struggle with highly dynamic scenes commonly found in casual videos. Such videos entangle the motion of dynamic elements, undermining the assumption of static environments required…
Neuromorphic, or event, cameras represent a transformation in the classical approach to visual sensing encodes detected instantaneous per-pixel illumination changes into an asynchronous stream of event packets. Their novelty compared to…
Event cameras are bio-inspired sensors that capture per-pixel asynchronous intensity change rather than the synchronous absolute intensity frames captured by a classical camera sensor. Such cameras are ideal for robotics applications since…
Event-based cameras are raising interest within the computer vision community. These sensors operate with asynchronous pixels, emitting events, or "spikes", when the luminance change at a given pixel since the last event surpasses a certain…
High-speed vision sensing is essential for real-time perception in applications such as robotics, autonomous vehicles, and industrial automation. Traditional frame-based vision systems suffer from motion blur, high latency, and redundant…