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Unlike standard cameras that send intensity images at a constant frame rate, event-driven cameras asynchronously report pixel-level brightness changes, offering low latency and high temporal resolution (both in the order of micro-seconds).…
This paper presents a real-time method to detect and track multiple mobile ground robots using event cameras. The method uses density-based spatial clustering of applications with noise (DBSCAN) to detect the robots and a single…
Spatial convolution is arguably the most fundamental of 2D image processing operations. Conventional spatial image convolution can only be applied to a conventional image, that is, an array of pixel values (or similar image representation)…
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,…
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…
This paper presents a new event-based method for detecting and tracking features from the output of an event-based camera. Unlike many tracking algorithms from the computer vision community, this process does not aim for particular…
The development of aerial autonomy has enabled aerial robots to fly agilely in complex environments. However, dodging fast-moving objects in flight remains a challenge, limiting the further application of unmanned aerial vehicles (UAVs).…
Event-based data are commonly encountered in edge computing environments where efficiency and low latency are critical. To interface with such data and leverage their rich temporal features, we propose a causal spatiotemporal convolutional…
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…
The importance of depth perception in the interactions that humans have within their nearby space is a well established fact. Consequently, it is also well known that the possibility of exploiting good stereo information would ease and, in…
Event cameras offer microsecond latency, high dynamic range, and low power consumption, making them ideal for real-time robotic perception under challenging conditions such as motion blur, occlusion, and illumination changes. However,…
Event sensors offer high temporal resolution visual sensing, which makes them ideal for perceiving fast visual phenomena without suffering from motion blur. Certain applications in robotics and vision-based navigation require 3D perception…
Event cameras, which are asynchronous bio-inspired vision sensors, have shown great potential in computer vision and artificial intelligence. However, the application of event cameras to object-level motion estimation or tracking is still…
Event-based cameras (EBCs) are a promising new technology for star tracking-based attitude determination, but prior studies have struggled to determine accurate ground truth for real data. We analyze the accuracy of an EBC star tracking…
In this paper, an event-based tracker is presented. Inspired by recent advances in asynchronous processing of individual events, we develop a direct matching scheme that aligns spatial distributions of events at different times. More…
Object pose tracking is one of the pivotal technologies in multimedia, attracting ever-growing attention in recent years. Existing methods employing traditional cameras encounter numerous challenges such as motion blur, sensor noise,…
The $\ell_1$ tracker obtains robustness by seeking a sparse representation of the tracking object via $\ell_1$ norm minimization \cite{Xue_ICCV_09_Track}. However, the high computational complexity involved in the $ \ell_1 $ tracker…
Table tennis robots gained traction over the last years and have become a popular research challenge for control and perception algorithms. Fast and accurate ball detection is crucial for enabling a robotic arm to rally the ball back…
Event cameras have garnered considerable attention due to their advantages over traditional cameras in low power consumption, high dynamic range, and no motion blur. This paper proposes a monocular event-inertial odometry incorporating an…
This paper proposes a novel approach for detecting objects using mobile robots in the context of the RoboCup Standard Platform League, with a primary focus on detecting the ball. The challenge lies in detecting a dynamic object in varying…