Related papers: On the Benefits of Visual Stabilization for Frame-…
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…
Reliable self-localization is a foundational skill for many intelligent mobile platforms. This paper explores the use of event cameras for motion tracking thereby providing a solution with inherent robustness under difficult dynamics and…
Event cameras generate asynchronous signals in response to pixel-level brightness changes, offering a sensing paradigm with theoretically microsecond-scale latency that can significantly enhance the performance of multi-sensor systems.…
Coordinating proximity and tactile imaging by collocating cameras with tactile sensors can 1) provide useful information before contact such as object pose estimates and visually servo a robot to a target with reduced occlusion and higher…
Mobile robots, performing long-term manipulation activities in human environments, have to perceive a wide variety of objects possessing very different visual characteristics and need to reliably keep track of these throughout the execution…
Video stabilization technique is essential for most hand-held captured videos due to high-frequency shakes. Several 2D-, 2.5D- and 3D-based stabilization techniques are well studied, but to our knowledge, no solutions based on deep neural…
The vast majority of visual animals actively control their eyes, heads, and/or bodies to direct their gaze toward different parts of their environment. In contrast, recent applications of reinforcement learning in robotic manipulation…
Sensor fusion is crucial for a performant and robust Perception system in autonomous vehicles, but sensor staleness, where data from different sensors arrives with varying delays, poses significant challenges. Temporal misalignment between…
We study the problem of target stabilization with robust obstacle avoidance in robots and vehicles that have access only to vision-based sensors for the purpose of realtime localization. This problem is particularly challenging due to the…
State estimation from measured data is crucial for robotic applications as autonomous systems rely on sensors to capture the motion and localize in the 3D world. Among sensors that are designed for measuring a robot's pose, or for soft…
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…
Event cameras are increasingly popular in robotics due to beneficial features such as low latency, energy efficiency, and high dynamic range. Nevertheless, their downstream task performance is greatly influenced by the optimization of bias…
Gaze stabilization is fundamental for humanoid robots. By stabilizing vision, it enhances perception of the environment and keeps points of interest in the field of view. In this contribution, a multimodal gaze stabilization combining…
Video stabilization algorithms are of greater importance nowadays with the prevalence of hand-held devices which unavoidably produce videos with undesirable shaky motions. In this paper we propose a data-driven online video stabilization…
Algorithms for signal recovery in compressed sensing (CS) are often improved by stabilization techniques, such as damping, or the less widely known so-called fractional approach, which is based on the expectation propagation (EP) framework.…
When applied sequentially to video, frame-based networks often exhibit temporal inconsistency - for example, outputs that flicker between frames. This problem is amplified when the network inputs contain time-varying corruptions. In this…
Accurate state estimation is a fundamental component of robotic control. In robotic manipulation tasks, as is our focus in this work, state estimation is essential for identifying the positions of objects in the scene, forming the basis of…
Sensory feedback is essential for the control of soft robotic systems and to enable deployment in a variety of different tasks. Proprioception refers to sensing the robot's own state and is of crucial importance in order to deploy soft…
The accurate visual tracking of a moving object is a human fundamental skill that allows to reduce the relative slip and instability of the object's image on the retina, thus granting a stable, high-quality vision. In order to optimize…
Event cameras are a bio-inspired class of sensors that asynchronously measure per-pixel intensity changes. Under fixed illumination conditions in static or low-motion scenes, rigidly mounted event cameras are unable to generate any events…