Related papers: High Speed Rotation Estimation with Dynamic Vision…
Traditional visual-inertial state estimation targets absolute camera poses and spatial landmark locations while first-order kinematics are typically resolved as an implicitly estimated sub-state. However, this poses a risk in velocity-based…
Smartphones equipped with sensors such as accelerometers, gyroscopes, and magnetometers offer valuable opportunities for physics education, allowing students to measure motion using their own devices. However, commonly used applications…
Compact, ultra-high-speed self-bearing permanent-magnet motors enable a wide scope of applications including an increasing number of optical ones. For implementation in an optical setup the rotors have to satisfy high demands regarding…
Optical flow is a crucial component of the feature space for early visual processing of dynamic scenes especially in new applications such as self-driving vehicles, drones and autonomous robots. The dynamic vision sensors are well suited…
Vision based and event based tactile sensors are important in robotic manipulation research. However, they suffer from a fundamental tradeoff: vision based sensors have low sampling rates, while event based sensors are prone to drift during…
Biologically inspired event-based vision sensors (EVS) are growing in popularity due to performance benefits including ultra-low power consumption, high dynamic range, data sparsity, and fast temporal response. They efficiently encode…
Event cameras are bio-inspired sensors that differ from conventional frame cameras: Instead of capturing images at a fixed rate, they asynchronously measure per-pixel brightness changes, and output a stream of events that encode the time,…
Real-time robot actuation is one of the main challenges to overcome in human-robot interaction. Most visual sensors are either too slow or their data are too complex to provide meaningful information and low latency input to a robotic…
Event camera is a novel bio-inspired vision sensor that outputs event stream. In this paper, we propose a novel data fusion algorithm called EAS to fuse conventional intensity images with the event stream. The fusion result is applied to…
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…
This paper presents a Dynamic Vision Sensor (DVS) based system for reasoning about high speed motion. As a representative scenario, we consider the case of a robot at rest reacting to a small, fast approaching object at speeds higher than…
When carrying out robotic manipulation tasks, objects occasionally fall as a result of the rotation caused by slippage. This can be prevented by obtaining tactile information that provides better knowledge on the physical properties of the…
We propose a robotic manipulation system that can pivot objects on a surface using vision, wrist force and tactile sensing. We aim to control the rotation of an object around the grip point of a parallel gripper by allowing rotational slip,…
Perception systems in robotics encounter significant challenges in high-speed and dynamic conditions when relying on traditional cameras, where motion blur can compromise spatial feature integrity and task performance. Brain-inspired vision…
Mobile manipulators consist of a mobile platform equipped with one or more robot arms and are of interest for a wide array of challenging tasks because of their extended workspace and dexterity. Typically, mobile manipulators are deployed…
After years of growth, drone-based delivery is transforming logistics. At its core, real-time 6-DoF drone pose tracking enables precise flight control and accurate drone landing. With the widespread availability of urban 3D maps, the Visual…
Accurate and robust object state estimation enables successful object manipulation. Visual sensing is widely used to estimate object poses. However, in a cluttered scene or in a tight workspace, the robot's end-effector often occludes the…
New vision sensors, such as the Dynamic and Active-pixel Vision sensor (DAVIS), incorporate a conventional global-shutter camera and an event-based sensor in the same pixel array. These sensors have great potential for high-speed robotics…
The objective of this paper is to describe an approach to detect the slip and contact force in real-time feedback. In this novel approach, the DAVIS camera is used as a vision tactile sensor due to its fast process speed and high…
Event cameras are bio-inspired visual sensors that capture pixel-wise intensity changes and output asynchronous event streams. They show great potential over conventional cameras to handle challenging scenarios in robotics and computer…