Related papers: Event-based Agile Object Catching with a Quadruped…
Prediction skills can be crucial for the success of tasks where robots have limited time to act or joints actuation power. In such a scenario, a vision system with a fixed, possibly too low, sampling rate could lead to the loss of…
Event cameras are an interesting visual exteroceptive sensor that reacts to brightness changes rather than integrating absolute image intensities. Owing to this design, the sensor exhibits strong performance in situations of challenging…
Detecting 3D objects in point clouds plays a crucial role in autonomous driving systems. Recently, advanced multi-modal methods incorporating camera information have achieved notable performance. For a safe and effective autonomous driving…
We present the first static-obstacle avoidance method for quadrotors using just an onboard, monocular event camera. Quadrotors are capable of fast and agile flight in cluttered environments when piloted manually, but vision-based autonomous…
Learning-based methods have achieved strong performance for quadrupedal locomotion. However, several challenges prevent quadrupeds from learning helpful indoor skills that require interaction with environments and humans: lack of…
This work introduces a robot navigation controller that combines event cameras and other sensors with reinforcement learning to enable real-time human-centered navigation and obstacle avoidance. Unlike conventional image-based controllers,…
Rapid aerial grasping through robots can lead to many applications that utilize fast and dynamic picking and placing of objects. Rigid grippers traditionally used in aerial manipulators require high precision and specific object geometries…
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…
In this work, we propose a motion robust and high-speed detection pipeline which better leverages the event data. First, we design an event stream representation called temporal active focus (TAF), which efficiently utilizes the…
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,…
Event cameras have a lot of advantages over traditional cameras, such as low latency, high temporal resolution, and high dynamic range. However, since the outputs of event cameras are the sequences of asynchronous events overtime rather…
Compact quadrupedal robots are proving increasingly suitable for deployment in real-world scenarios. Their smaller size fosters easy integration into human environments. Nevertheless, real-time locomotion on uneven terrains remains…
This paper investigates trajectory prediction for robotics, to improve the interaction of robots with moving targets, such as catching a bouncing ball. Unexpected, highly-non-linear trajectories cannot easily be predicted with…
In this work, we present optical space imaging using an unconventional yet promising class of imaging devices known as neuromorphic event-based sensors. These devices, which are modeled on the human retina, do not operate with frames, but…
The broad scope of obstacle avoidance has led to many kinds of computer vision-based approaches. Despite its popularity, it is not a solved problem. Traditional computer vision techniques using cameras and depth sensors often focus on…
Event cameras are a cutting-edge type of visual sensors that capture data by detecting brightness changes at the pixel level asynchronously. These cameras offer numerous benefits over conventional cameras, including high temporal…
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…
To determine the 3D orientation and 3D location of objects in the surroundings of a camera mounted on a robot or mobile device, we developed two powerful algorithms in object detection and temporal tracking that are combined seamlessly for…
As the ubiquity of smart mobile devices continues to rise, Optical Camera Communication systems have gained more attention as a solution for efficient and private data streaming. This system utilizes optical cameras to receive data from…
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).…