Related papers: Stereo Event-based Visual-Inertial Odometry
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-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 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-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…
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…
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…
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…
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…
This paper presents a dual stage EKF (Extended Kalman Filter)-based algorithm for the real-time and robust stereo VIO (visual inertial odometry). The first stage of this EKF-based algorithm performs the fusion of accelerometer and gyroscope…
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 that asynchronously output low-latency event streams provide great opportunities for state estimation under challenging situations. Despite event-based visual odometry having been extensively studied in recent years, most of…
We present a novel real-time visual odometry framework for a stereo setup of a depth and high-resolution event camera. Our framework balances accuracy and robustness against computational efficiency towards strong performance in challenging…
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…
Implementing dynamic locomotion behaviors on legged robots requires a high-quality state estimation module. Especially when the motion includes flight phases, state-of-the-art approaches fail to produce reliable estimation of the robot…
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…
Event based cameras are a new passive sensing modality with a number of benefits over traditional cameras, including extremely low latency, asynchronous data acquisition, high dynamic range and very low power consumption. There has been a…
Event cameras are bio-inspired vision sensors that output pixel-level brightness changes instead of standard intensity frames. These cameras do not suffer from motion blur and have a very high dynamic range, which enables them to provide…
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…
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…
Invariant Extended Kalman Filter (IEKF) has been successfully applied in Visual-inertial Odometry (VIO) as an advanced achievement of Kalman filter, showing great potential in sensor fusion. In this paper, we propose partial IEKF (PIEKF),…