Related papers: A 5-Point Minimal Solver for Event Camera Relative…
State-of-the-art solutions for Shape-from-Polarization (SfP) suffer from a speed-resolution tradeoff: they either sacrifice the number of polarization angles measured or necessitate lengthy acquisition times due to framerate constraints,…
A new closed-form solver is proposed minimizing the algebraic error optimally, in the least-squares sense, to estimate the relative planar motion of two calibrated cameras. The main objective is to solve the over-determined case, i.e., when…
Vision-based localization is a cost-effective and thus attractive solution for many intelligent mobile platforms. However, its accuracy and especially robustness still suffer from low illumination conditions, illumination changes, and…
Line features are valid complements for point features in man-made environments. 3D-2D constraints provided by line features have been widely used in Visual Odometry (VO) and Structure-from-Motion (SfM) systems. However, how to accurately…
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 camera has recently received much attention for low-light image enhancement (LIE) thanks to their distinct advantages, such as high dynamic range. However, current research is prohibitively restricted by the lack of large-scale,…
Among prerequisites for a synthetic agent to interact with dynamic scenes, the ability to identify independently moving objects is specifically important. From an application perspective, nevertheless, standard cameras may deteriorate…
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-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 cameras are a new type of brain-inspired visual sensor with advantages such as high dynamic range and high temporal resolution. The geometric calibration of event cameras, which involves determining their intrinsic and extrinsic…
In this paper, we propose a global method for estimating the motion of a camera which films a static scene. Our approach is direct, fast and robust, and deals with adjacent frames of a sequence. It is based on a quadratic approximation of…
Event cameras are bio-inspired sensors that capture the per-pixel intensity changes asynchronously and produce event streams encoding the time, pixel position, and polarity (sign) of the intensity changes. Event cameras possess a myriad of…
This paper presents a new algorithm to estimate absolute camera pose given an axis of the camera's rotation matrix. Current algorithms solve the problem via algebraic solutions on limited input domains. This paper shows that the problem can…
In this paper we present a fast minimal solver for absolute camera pose estimation from four known points that lie in a plane. We assume a perspective camera model with unknown focal length and unknown radial distortion. The radial…
Accurate 6-DoF pose estimation of objects is critical for robots to perform precise manipulation tasks. However, for dynamic object pose estimation, conventional camera-based approaches face several major challenges, such as motion blur,…
Event-based cameras are increasingly utilized in various applications, owing to their high temporal resolution and low power consumption. However, a fundamental challenge arises when deploying multiple such cameras: they operate on…
We propose a minimal solution for pose estimation using both points and lines for a multi-perspective camera. In this paper, we treat the multi-perspective camera as a collection of rigidly attached perspective cameras. These type of…
In this paper, we introduce IDOL, an optimization-based framework for IMU-DVS Odometry using Lines. Event cameras, also called Dynamic Vision Sensors (DVSs), generate highly asynchronous streams of events triggered upon illumination changes…
Autonomous swarms of multi-Unmanned Aerial Vehicle (UAV) system requires an accurate and fast relative state estimation. Although monocular frame-based camera methods perform well in ideal conditions, they are slow, suffer scale ambiguity,…
Event cameras are bio-inspired sensors that perform well in challenging illumination conditions and have high temporal resolution. However, their concept is fundamentally different from traditional frame-based cameras. The pixels of an…