Related papers: Asynchronous Optimisation for Event-based Visual O…
Visual Odometry (VO) is crucial for autonomous robotic navigation, especially in GPS-denied environments like planetary terrains. To improve robustness, recent model-based VO systems have begun combining standard and event-based cameras.…
Event-based cameras asynchronously capture individual visual changes in a scene. This makes them more robust than traditional frame-based cameras to highly dynamic motions and poor illumination. It also means that every measurement in a…
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 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 are bio-inspired vision sensors whose pixels work independently from each other and respond asynchronously to brightness changes, with microsecond resolution. Their advantages make it possible to tackle challenging…
Event cameras are motion-activated sensors that capture pixel-level illumination changes instead of the intensity image with a fixed frame rate. Compared with the standard cameras, it can provide reliable visual perception during high-speed…
Event-based visual odometry is a specific branch of visual Simultaneous Localization and Mapping (SLAM) techniques, which aims at solving tracking and mapping subproblems (typically in parallel), by exploiting the special working principles…
Event cameras offer the exciting possibility of tracking the camera's pose during high-speed motion and in adverse lighting conditions. Despite this promise, existing event-based monocular visual odometry (VO) approaches demonstrate limited…
Estimating motion from images is a well-studied problem in computer vision and robotics. Previous work has developed techniques to estimate the motion of a moving camera in a largely static environment (e.g., visual odometry) and to segment…
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…
Learning-based visual odometry (VO) algorithms achieve remarkable performance on common static scenes, benefiting from high-capacity models and massive annotated data, but tend to fail in dynamic, populated environments. Semantic…
Hybrid pipelines that combine deep learning with classical optimization have established themselves as the dominant approach to visual odometry (VO). By integrating neural network predictions with bundle adjustment, these models estimate…
Event-based cameras are biologically inspired sensors that output events, i.e., asynchronous pixel-wise brightness changes in the scene. Their high dynamic range and temporal resolution of a microsecond makes them more reliable than…
Direct methods for event-based visual odometry solve the mapping and camera pose tracking sub-problems by establishing implicit data association in a way that the generative model of events is exploited. The main bottlenecks faced by…
Neuromorphic event-based cameras are bio-inspired visual sensors with asynchronous pixels and extremely high temporal resolution. Such favorable properties make them an excellent choice for solving state estimation tasks under aggressive…
Efficiency and robustness are the essential criteria for the visual-inertial odometry (VIO) system. To process massive visual data, the high cost on CPU resources and computation latency limits VIO's possibility in integration with other…
Building vehicles capable of operating without human supervision requires the determination of the agent's pose. Visual Odometry (VO) algorithms estimate the egomotion using only visual changes from the input images. The most recent VO…
The event camera, renowned for its high dynamic range and exceptional temporal resolution, is recognized as an important sensor for visual odometry. However, the inherent noise in event streams complicates the selection of high-quality map…
We present a new solution to tracking and mapping with an event camera. The motion of the camera contains both rotation and translation, and the displacements happen in an arbitrarily structured environment. As a result, the image matching…
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 state estimation tasks involving motion blur and high…