Related papers: Event-based Visual Inertial Velometer
This paper investigates the estimation problem of the pose (orientation and position) and linear velocity of a rigid body, as well as the landmark positions, using an inertial measurement unit (IMU) and a monocular camera. First, we propose…
Event-based cameras are neuromorphic sensors capable of efficiently encoding visual information in the form of sparse sequences of events. Being biologically inspired, they are commonly used to exploit some of the computational and power…
In this paper, we investigate the visual tracking problem for robotic systems without image-space velocity measurement, simultaneously taking into account the uncertainties of the camera model and the manipulator kinematics and dynamics. We…
Event cameras are novel sensors that report brightness changes in the form of asynchronous "events" instead of intensity frames. They have significant advantages over conventional cameras: high temporal resolution, high dynamic range, and…
Event cameras are bio-inspired vision sensors that mimic retinas to asynchronously report per-pixel intensity changes rather than outputting an actual intensity image at regular intervals. This new paradigm of image sensor offers…
We present a solution to the problem of spatio-temporal calibration for event cameras mounted on an onmi-directional vehicle. Different from traditional methods that typically determine the camera's pose with respect to the vehicle's body…
This paper deals with the simultaneous estimation of the attitude, position and linear velocity for vision-aided inertial navigation systems. We propose a nonlinear observer on $SO(3)\times \mathbb{R}^{15}$ relying on body-frame…
This paper presents EROAM, a novel event-based rotational odometry and mapping system that achieves real-time, accurate camera rotation estimation. Unlike existing approaches that rely on event generation models or contrast maximization,…
Robot control loops require causal pose estimates that depend only on past and present measurements. At each timestep, controllers compute commands using the current pose without waiting for future refinements. While traditional visual SLAM…
Event-based vision sensors mimic the operation of biological retina and they represent a major paradigm shift from traditional cameras. Instead of providing frames of intensity measurements synchronously, at artificially chosen rates,…
Implicit neural representation and explicit 3D Gaussian Splatting (3D-GS) for novel view synthesis have achieved remarkable progress with frame-based camera (e.g. RGB and RGB-D cameras) recently. Compared to frame-based camera, a novel type…
Event cameras provide a number of benefits over traditional cameras, such as the ability to track incredibly fast motions, high dynamic range, and low power consumption. However, their application into computer vision problems, many of…
High-speed imaging is central to the experimental investigation of fast phenomena, like flapping flags. Event-based cameras use new types of sensors that address typical challenges such as low illumination conditions, large data transfer,…
Small vibrations observed in video can unveil information beyond what is visual, such as sound and material properties. It is possible to passively record these vibrations when they are visually perceptible, or actively amplify their visual…
Recent works have combined monocular event camera and inertial measurement unit to estimate the $SE(3)$ trajectory. However, the asynchronicity of event cameras brings a great challenge to conventional fusion algorithms. In this paper, we…
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…
Event cameras rely on motion to obtain information about scene appearance. This means that appearance and motion are inherently linked: either both are present and recorded in the event data, or neither is captured. Previous works treat the…
Event cameras are bio-inspired vision sensors that asynchronously measure per-pixel brightness changes.The high-temporal resolution and asynchronicity of event cameras offer great potential for estimating robot motion states. Recent works…
Optical tactile sensors have recently become popular. They provide high spatial resolution, but struggle to offer fine temporal resolutions. To overcome this shortcoming, we study the idea of replacing the RGB camera with an event-based…
This paper proposes a novel algorithm for vehicle speed-aided monocular visual-inertial localization using a topological map. The proposed system aims to address the limitations of existing methods that rely heavily on expensive sensors…