Related papers: AsynEIO: Asynchronous Monocular Event-Inertial Odo…
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 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…
Event cameras asynchronously output low-latency event streams, promising for state estimation in high-speed motion and challenging lighting conditions. As opposed to frame-based cameras, the motion-dependent nature of event cameras presents…
Event cameras are bio-inspired vision sensors that output pixel-level brightness changes instead of standard intensity frames. They offer significant advantages over standard cameras, namely a very high dynamic range, no motion blur, and a…
Event cameras, as bio-inspired sensors, are asynchronously triggered with high-temporal resolution compared to intensity cameras. Recent work has focused on fusing the event measurements with inertial measurements to enable ego-motion…
Event cameras show great potential for visual odometry (VO) in handling challenging situations, such as fast motion and high dynamic range. Despite this promise, the sparse and motion-dependent characteristics of event data continue to…
Event cameras are motion-activated sensors that capture pixel-level illumination changes instead of the intensity image with a fixed frame rate. Compared with the standard cameras, it can provide reliable visual perception during high-speed…
Event cameras have garnered considerable attention due to their advantages over traditional cameras in low power consumption, high dynamic range, and no motion blur. This paper proposes a monocular event-inertial odometry incorporating an…
Event cameras, inspired by biological vision, are asynchronous sensors that detect changes in brightness, offering notable advantages in environments characterized by high-speed motion, low lighting, or wide dynamic range. These distinctive…
We present a multi-camera visual-inertial odometry system based on factor graph optimization which estimates motion by using all cameras simultaneously while retaining a fixed overall feature budget. We focus on motion tracking in…
Event cameras open up new possibilities for robotic perception due to their low latency and high dynamic range. On the other hand, developing effective event-based vision algorithms that fully exploit the beneficial properties of event…
Deep learning approaches for Visual-Inertial Odometry (VIO) have proven successful, but they rarely focus on incorporating robust fusion strategies for dealing with imperfect input sensory data. We propose a novel end-to-end selective…
Event cameras that asynchronously output low-latency event streams provide great opportunities for state estimation under challenging situations. Despite event-based visual odometry having been extensively studied in recent years, most of…
Traditional visual-inertial state estimation targets absolute camera poses and spatial landmark locations while first-order kinematics are typically resolved as an implicitly estimated sub-state. However, this poses a risk in velocity-based…
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…
3D reconstruction methods such as 3D Gaussian Splatting (3DGS) and Neural Radiance Fields (NeRF) achieve impressive photorealism but fail when input images suffer from severe motion blur. While event cameras provide high-temporal-resolution…
This work addresses the issue of motion compensation and pattern tracking in event camera data. An event camera generates asynchronous streams of events triggered independently by each of the pixels upon changes in the observed intensity.…
Current optical flow methods exploit the stable appearance of frame (or RGB) data to establish robust correspondences across time. Event cameras, on the other hand, provide high-temporal-resolution motion cues and excel in challenging…
The event camera, renowned for its high dynamic range and exceptional temporal resolution, is recognized as an important sensor for visual odometry. However, the inherent noise in event streams complicates the selection of high-quality map…
Combining cameras and inertial measurement units (IMUs) has been proven effective in motion tracking, as these two sensing modalities offer complementary characteristics that are suitable for fusion. While most works focus on global-shutter…