Related papers: eKalibr-Stereo: Continuous-Time Spatiotemporal Cal…
Event cameras offer significant advantages for low-light video enhancement, primarily due to their high dynamic range. Current research, however, is severely limited by the absence of large-scale, real-world, and spatio-temporally aligned…
Event camera sensors are bio-inspired sensors which asynchronously capture per-pixel brightness changes and output a stream of events encoding the polarity, location and time of these changes. These systems are witnessing rapid advancements…
Stereo camera systems play an important role in robotics applications to perceive the 3D world. However, conventional cameras have drawbacks such as low dynamic range, motion blur and latency due to the underlying frame-based mechanism.…
Accurate LiDAR-camera calibration is crucial for multi-sensor systems. However, traditional methods often rely on physical targets, which are impractical for real-world deployment. Moreover, even carefully calibrated extrinsics can degrade…
Event cameras are bio-inspired sensors with some notable features, including high dynamic range and low latency, which makes them exceptionally suitable for perception in challenging scenarios such as high-speed motion and extreme lighting…
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…
Precise sensor calibration is critical for autonomous vehicles as a prerequisite for perception algorithms to function properly. Rotation error of one degree can translate to position error of meters in target object detection at large…
Calibration of multi-camera systems is a key task for accurate object tracking. However, it remains a challenging problem in real-world conditions, where traditional methods are not applicable due to the lack of accurate floor plans,…
Autonomous vehicles (AVs) fuse data from multiple sensors and sensing modalities to impart a measure of robustness when operating in adverse conditions. Radars and cameras are popular choices for use in sensor fusion; although radar…
In robotics, motion capture systems have been widely used to measure the accuracy of localization algorithms. Moreover, this infrastructure can also be used for other computer vision tasks, such as the evaluation of Visual (-Inertial) SLAM…
Sensor-based environmental perception is a crucial step for autonomous driving systems, for which an accurate calibration between multiple sensors plays a critical role. For the calibration of LiDAR and camera, the existing method is…
Event-based visual odometry is a specific branch of visual Simultaneous Localization and Mapping (SLAM) techniques, which aims at solving tracking and mapping subproblems (typically in parallel), by exploiting the special working principles…
We consider the problem of reconstructing a dynamic scene observed from a stereo camera. Most existing methods for depth from stereo treat different stereo frames independently, leading to temporally inconsistent depth predictions. Temporal…
Event cameras output asynchronous events to represent intensity changes with a high temporal resolution, even under extreme lighting conditions. Currently, most of the existing works use a single contrast threshold to estimate the intensity…
This paper presents a method for extrinsic camera calibration (estimation of camera rotation and translation matrices) from a sequence of images. It is assumed camera intrinsic matrix and distortion coefficients are known and fixed during…
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…
Camera calibration is integral to robotics and computer vision algorithms that seek to infer geometric properties of the scene from visual input streams. In practice, calibration is a laborious procedure requiring specialized data…
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…
Compact and low-cost devices are needed for autonomous driving to image and measure distances to objects 360-degree around. We have been developing an omnidirectional stereo camera exploiting two hyperbolic mirrors and a single set of a…
Due to the extremely low latency, events have been recently exploited to supplement lost information for motion deblurring. Existing approaches largely rely on the perfect pixel-wise alignment between intensity images and events, which is…