Related papers: Temporal and Rotational Calibration for Event-Cent…
As event-based sensing gains in popularity, theoretical understanding is needed to harness this technology's potential. Instead of recording video by capturing frames, event-based cameras have sensors that emit events when their inputs…
Event cameras are a new type of sensors that are different from traditional cameras. Each pixel is triggered asynchronously by event. The trigger event is the change of the brightness irradiated on the pixel. If the increment or decrement…
Event-based vision sensors offer asynchronous, high-temporal-resolution measurements that are attractive for low-latency robotic perception, but many event-based motion estimation methods are computationally intensive and difficult to map…
Event-based cameras are dynamic vision sensors that provide asynchronous measurements of changes in per-pixel brightness at a microsecond level. This makes them significantly faster than conventional frame-based cameras, and an appealing…
This paper studies the effect of reference frame selection in sensor-to-sensor extrinsic calibration when formulated as a motion-based hand-eye calibration problem. Different reference selection options are tested under varying noise…
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…
The broad scope of obstacle avoidance has led to many kinds of computer vision-based approaches. Despite its popularity, it is not a solved problem. Traditional computer vision techniques using cameras and depth sensors often focus on…
With the growing adoption of autonomous driving, the advancement of sensor technology is crucial for ensuring safety and reliable operation. Sensor fusion techniques that combine multiple sensors such as LiDAR, radar, and cameras have…
Understanding and mitigating flicker effects caused by rapid variations in light intensity is critical for enhancing the performance of event cameras in diverse environments. This paper introduces an innovative autonomous mechanism for…
This paper proposes FAST-Calib, a fast and user-friendly LiDAR-camera extrinsic calibration tool based on a custom-made 3D target. FAST-Calib supports both mechanical and solid-state LiDARs by leveraging an efficient and reliable edge…
Event-based cameras capture visual information as asynchronous streams of per-pixel brightness changes, generating sparse, temporally precise data. Compared to conventional frame-based sensors, they offer significant advantages in capturing…
This paper presents EROAM, a novel event-based rotational odometry and mapping system that achieves real-time, accurate camera rotation estimation. Unlike existing approaches that rely on event generation models or contrast maximization,…
Visual-Inertial (VI) sensors are popular in robotics, self-driving vehicles, and augmented and virtual reality applications. In order to use them for any computer vision or state-estimation task, a good calibration is essential. However,…
Event cameras are emerging vision sensors whose noise is challenging to characterize. Existing denoising methods for event cameras are often designed in isolation and thus consider other tasks, such as motion estimation, separately (i.e.,…
Time event cameras are a novel technology for recording scene information at extremely low latency and with low power consumption. Event cameras output a stream of events that encapsulate pixel-level light intensity changes within the…
Accurate extrinsic calibration of multiple LiDARs is crucial for improving the foundational performance of three-dimensional (3D) map reconstruction systems. This paper presents a novel targetless extrinsic calibration framework for…
Event-based cameras are ideal for line-based motion estimation, since they predominantly respond to edges in the scene. However, accurately determining the camera displacement based on events continues to be an open problem. This is because…
Accurate measurement of shock wave motion parameters with high spatiotemporal resolution is essential for applications such as power field testing and damage assessment. However, significant challenges are posed by the fast, uneven…
In this work, we propose a novel transformation for events from an event camera that is equivariant to optical flow under convolutions in the 3-D spatiotemporal domain. Events are generated by changes in the image, which are typically due…
Event camera is an emerging bio-inspired vision sensors that report per-pixel brightness changes asynchronously. It holds noticeable advantage of high dynamic range, high speed response, and low power budget that enable it to best capture…