Related papers: FEDORA: Flying Event Dataset fOr Reactive behAvior
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…
Mobile robots are reaching unprecedented speeds, with platforms like Unitree B2, and Fraunhofer O3dyn achieving maximum speeds between 5 and 10 m/s. However, effectively utilizing such speeds remains a challenge due to the limitations of…
Optical flow estimation has achieved promising results in conventional scenes but faces challenges in high-speed and low-light scenes, which suffer from motion blur and insufficient illumination. These conditions lead to weakened texture…
Different from visible cameras which record intensity images frame by frame, the biologically inspired event camera produces a stream of asynchronous and sparse events with much lower latency. In practice, visible cameras can better…
One of the greatest challenges in the design of a real-time perception system for autonomous driving vehicles and drones is the conflicting requirement of safety (high prediction accuracy) and efficiency. Traditional approaches use a single…
Vision is an essential part of attitude control for many flying animals, some of which have no dedicated sense of gravity. Flying robots, on the other hand, typically depend heavily on accelerometers and gyroscopes for attitude…
Traditionally, video is structured as a sequence of discrete image frames. Recently, however, a novel video sensing paradigm has emerged which eschews video frames entirely. These "event" sensors aim to mimic the human vision system with…
Organizations are starting to realize of the combined power of data and data-driven algorithmic models to gain insights, situational awareness, and advance their mission. A common challenge to gaining insights is connecting inherently…
This paper presents PANTHER, a real-time perception-aware (PA) trajectory planner for multirotor-UAVs (Unmanned Aerial Vehicles) in dynamic environments. PANTHER plans trajectories that avoid dynamic obstacles while also keeping them in the…
A realistic view of the vehicle's surroundings is generally offered by camera sensors, which is crucial for environmental perception. Affordable radar sensors, on the other hand, are becoming invaluable due to their robustness in variable…
Visual object tracking under challenging conditions of motion and light can be hindered by the capabilities of conventional cameras, prone to producing images with motion blur. Event cameras are novel sensors suited to robustly perform…
We present a new traffic dataset, METEOR, which captures traffic patterns and multi-agent driving behaviors in unstructured scenarios. METEOR consists of more than 1000 one-minute videos, over 2 million annotated frames with bounding boxes…
Event camera is an emerging bio-inspired vision sensors that report per-pixel brightness changes asynchronously. It holds noticeable advantage of high dynamic range, high speed response, and low power budget that enable it to best capture…
Recently, the RGB images and point clouds fusion methods have been proposed to jointly estimate 2D optical flow and 3D scene flow. However, as both conventional RGB cameras and LiDAR sensors adopt a frame-based data acquisition mechanism,…
Cross-platform adaptation in event-based dense perception is crucial for deploying event cameras across diverse settings, such as vehicles, drones, and quadrupeds, each with unique motion dynamics, viewpoints, and class distributions. In…
In autonomous driving, relying solely on frame-based cameras can lead to inaccuracies caused by factors like long exposure times, high-speed motion, and challenging lighting conditions. To address these issues, we introduce a bio-inspired…
This paper investigates a novel active-sensing-based obstacle avoidance paradigm for flying robots in dynamic environments. Instead of fusing multiple sensors to enlarge the field of view (FOV), we introduce an alternative approach that…
The event camera, benefiting from its high dynamic range and low latency, provides performance gain for low-light image enhancement. Unlike frame-based cameras, it records intensity changes with extremely high temporal resolution, capturing…
Event-based cameras are dynamic vision sensors that provide asynchronous measurements of changes in per-pixel brightness at a microsecond level. This makes them significantly faster than conventional frame-based cameras, and an appealing…
Autonomous aerial harvesting is a highly complex problem because it requires numerous interdisciplinary algorithms to be executed on mini low-powered computing devices. Object detection is one such algorithm that is compute-hungry. In this…