Related papers: EROAM: Event-based Camera Rotational Odometry and …
Visual Odometry (VO) is crucial for autonomous robotic navigation, especially in GPS-denied environments like planetary terrains. To improve robustness, recent model-based VO systems have begun combining standard and event-based cameras.…
Event-based cameras are bio-inspired sensors with pixels that independently and asynchronously respond to brightness changes at microsecond resolution, offering the potential to handle visual tasks in high-speed maneuvering scenarios.…
Compared to regular cameras, Dynamic Vision Sensors or Event Cameras can output compact visual data based on a change in the intensity in each pixel location asynchronously. In this paper, we study the application of current image-based…
Low latency and accuracy are fundamental requirements when vision is integrated in robots for high-speed interaction with targets, since they affect system reliability and stability. In such a scenario, the choice of the sensor and…
Rapid and reliable identification of dynamic scene parts, also known as motion segmentation, is a key challenge for mobile sensors. Contemporary RGB camera-based methods rely on modeling camera and scene properties however, are often…
We propose a framework for tightly-coupled lidar inertial odometry via smoothing and mapping, LIO-SAM, that achieves highly accurate, real-time mobile robot trajectory estimation and map-building. LIO-SAM formulates lidar-inertial odometry…
Event-based cameras have recently drawn the attention of the Computer Vision community thanks to their advantages in terms of high temporal resolution, low power consumption and high dynamic range, compared to traditional frame-based…
Conventional visual simultaneous localization and mapping (SLAM) algorithms often fail under rapid motion, low illumination, or abrupt lighting transitions due to motion blur and limited dynamic range. Event cameras mitigate these issues…
Event cameras provide a natural and data efficient representation of visual information, motivating novel computational strategies towards extracting visual information. Inspired by the biological vision system, we propose a behavior driven…
Our paper proposes a direct sparse visual odometry method that combines event and RGB-D data to estimate the pose of agile-legged robots during dynamic locomotion and acrobatic behaviors. Event cameras offer high temporal resolution and…
Event-based cameras are biologically inspired sensors that output events, i.e., asynchronous pixel-wise brightness changes in the scene. Their high dynamic range and temporal resolution of a microsecond makes them more reliable than…
Event cameras are bio-inspired visual sensors that capture pixel-wise intensity changes and output asynchronous event streams. They show great potential over conventional cameras to handle challenging scenarios in robotics and computer…
Event-based cameras asynchronously capture individual visual changes in a scene. This makes them more robust than traditional frame-based cameras to highly dynamic motions and poor illumination. It also means that every measurement in a…
Event-cameras have emerged as a revolutionary technology with a high temporal resolution that far surpasses standard active pixel cameras. This technology draws biological inspiration from photoreceptors and the initial retinal synapse.…
In unstructured outdoor environments, robotics requires accurate and efficient odometry with low computational time. Existing low-bias LiDAR odometry methods are often computationally expensive. To address this problem, we present a…
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.…
Event cameras offer high temporal resolution and low latency, making them ideal sensors for high-speed robotic applications where conventional cameras suffer from image degradations such as motion blur. In addition, their low power…
Accurate velocity estimation is critical in mobile robotics, particularly for driver assistance systems and autonomous driving. Wheel odometry fused with Inertial Measurement Unit (IMU) data is a widely used method for velocity estimation;…
Event cameras capture changes of illumination in the observed scene rather than accumulating light to create images. Thus, they allow for applications under high-speed motion and complex lighting conditions, where traditional framebased…
Millimeter wave radar can measure distances, directions, and Doppler velocity for objects in harsh conditions such as fog. The 4D imaging radar with both vertical and horizontal data resembling an image can also measure objects' height.…