Related papers: Event-aided Direct Sparse Odometry
Event cameras provide a natural and data efficient representation of visual information, motivating novel computational strategies towards extracting visual information. Inspired by the biological vision system, we propose a behavior driven…
Despite significant progress, RGB-based trackers remain vulnerable to challenging imaging conditions, such as low illumination and fast motion. Event cameras offer a promising alternative by asynchronously capturing pixel-wise brightness…
Event cameras are bio-inspired sensors that asynchronously report intensity changes in microsecond resolution. DAVIS can capture high dynamics of a scene and simultaneously output high temporal resolution events and low frame-rate intensity…
Event-based vision sensors, such as the Dynamic Vision Sensor (DVS), are ideally suited for real-time motion analysis. The unique properties encompassed in the readings of such sensors provide high temporal resolution, superior sensitivity…
Estimating absolute camera orientations is essential for attitude estimation tasks. An established approach is to first carry out visual odometry (VO) or visual SLAM (V-SLAM), and retrieve the camera orientations (3 DOF) from the camera…
Event cameras are sensors inspired by biological systems that specialize in capturing changes in brightness. These emerging cameras offer many advantages over conventional frame-based cameras, including high dynamic range, high frame rates,…
Event-based cameras measure intensity changes (called `events') with microsecond accuracy under high-speed motion and challenging lighting conditions. With the `active pixel sensor' (APS), the `Dynamic and Active-pixel Vision Sensor'…
Accurate 6-DoF pose estimation of objects is critical for robots to perform precise manipulation tasks. However, for dynamic object pose estimation, conventional camera-based approaches face several major challenges, such as motion blur,…
Accurate localization is essential for robotics and augmented reality applications such as autonomous navigation. Vision-based methods combining prior maps aim to integrate LiDAR-level accuracy with camera cost efficiency for robust pose…
Compared to regular cameras, Dynamic Vision Sensors or Event Cameras can output compact visual data based on a change in the intensity in each pixel location asynchronously. In this paper, we study the application of current image-based…
Our paper proposes a direct sparse visual odometry method that combines event and RGB-D data to estimate the pose of agile-legged robots during dynamic locomotion and acrobatic behaviors. Event cameras offer high temporal resolution and…
The monocular visual-inertial odometry (VIO) based on the direct method can leverage all available pixels in the image to simultaneously estimate the camera motion and reconstruct the denser map of the scene in real time. However, the…
3D object detection is essential for autonomous systems, enabling precise localization and dimension estimation. While LiDAR and RGB cameras are widely used, their fixed frame rates create perception gaps in high-speed scenarios. Event…
Visual Odometry (VO) can be categorized as being either direct or feature based. When the system is calibrated photometrically, and images are captured at high rates, direct methods have shown to outperform feature-based ones in terms of…
Event-based cameras can measure intensity changes (called `{\it events}') with microsecond accuracy under high-speed motion and challenging lighting conditions. With the active pixel sensor (APS), the event camera allows simultaneous output…
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…
Event cameras, or Dynamic Vision Sensors (DVS) are novel neuromorphic sensors that capture brightness changes as a continuous stream of "events" rather than traditional intensity frames. Converting sparse events to dense intensity frames…
Pose estimation and tracking of objects is a fundamental application in 3D vision. Event cameras possess remarkable attributes such as high dynamic range, low latency, and resilience against motion blur, which enables them to address…
We describe our preliminary design of a real-time asynchronous event-based monocular odometry for planetary exploration. Operating under strict computational constraints, planetary rovers frequently encounter complex, unpredictable…
Event cameras show great potential for visual odometry (VO) in handling challenging situations, such as fast motion and high dynamic range. Despite this promise, the sparse and motion-dependent characteristics of event data continue to…