Related papers: EROAM: Event-based Camera Rotational Odometry and …
LiDAR odometry plays an important role in self-localization and mapping for autonomous navigation, which is usually treated as a scan registration problem. Although having achieved promising performance on KITTI odometry benchmark, the…
Robust and accurate pose estimation of a robotic platform, so-called sensor-based odometry, is an essential part of many robotic applications. While many sensor odometry systems made progress by adding more complexity to the ego-motion…
Event cameras, inspired by biological vision systems, provide a natural and data efficient representation of visual information. Visual information is acquired in the form of events that are triggered by local brightness changes. Each pixel…
The recent success of hybrid methods in monocular odometry has led to many attempts to generalize the performance gains to hybrid monocular SLAM. However, most attempts fall short in several respects, with the most prominent issue being the…
Pose estimation and tracking of objects is a fundamental application in 3D vision. Event cameras possess remarkable attributes such as high dynamic range, low latency, and resilience against motion blur, which enables them to address…
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…
In recent years there have been excellent results in Visual-Inertial Odometry techniques, which aim to compute the incremental motion of the sensor with high accuracy and robustness. However these approaches lack the capability to close…
We introduce a novel method for measuring properties of periodic phenomena with an event camera, a device asynchronously reporting brightness changes at independently operating pixels. The approach assumes that for fast periodic phenomena,…
In contrast to traditional cameras, whose pixels have a common exposure time, event-based cameras are novel bio-inspired sensors whose pixels work independently and asynchronously output intensity changes (called "events"), with microsecond…
We have proposed, to the best of our knowledge, the first-of-its-kind LiDAR-Inertial-Visual-Fused simultaneous localization and mapping (SLAM) system with a strong place recognition capacity. Our proposed SLAM system is consist of…
In this work, we present optical space imaging using an unconventional yet promising class of imaging devices known as neuromorphic event-based sensors. These devices, which are modeled on the human retina, do not operate with frames, but…
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…
In the last decades, Light Detection And Ranging (LiDAR) technology has been extensively explored as a robust alternative for self-localization and mapping. These approaches typically state ego-motion estimation as a non-linear optimization…
Event camera, a bio-inspired asynchronous triggered camera, offers promising prospects for fusion with frame-based cameras owing to its low latency and high dynamic range. However, calibrating stereo vision systems that incorporate both…
Event cameras offer significant advantages, including a wide dynamic range, high temporal resolution, and immunity to motion blur, making them highly promising for addressing challenging visual conditions. Extracting and utilizing effective…
In the paper, we propose a robust real-time visual odometry in dynamic environments via rigid-motion model updated by scene flow. The proposed algorithm consists of spatial motion segmentation and temporal motion tracking. The spatial…
Event cameras are bio-inspired sensors that perform well in HDR conditions and have high temporal resolution. However, different from traditional frame-based cameras, event cameras measure asynchronous pixel-level brightness changes and…
The development of aerial autonomy has enabled aerial robots to fly agilely in complex environments. However, dodging fast-moving objects in flight remains a challenge, limiting the further application of unmanned aerial vehicles (UAVs).…
Event cameras, when combined with inertial sensors, show significant potential for motion estimation in challenging scenarios, such as high-speed maneuvers and low-light environments. There are many methods for producing such estimations,…
Event-based structured light systems have recently been introduced as an exciting alternative to conventional frame-based triangulation systems for the 3D measurements of diffuse surfaces. Important benefits include the fast capture speed…