Related papers: Event-Based Visual Teach-and-Repeat via Fast Fouri…
Vision based and event based tactile sensors are important in robotic manipulation research. However, they suffer from a fundamental tradeoff: vision based sensors have low sampling rates, while event based sensors are prone to drift during…
In this paper, we introduce a novel method to capture visual trajectories for navigating an indoor robot in dynamic settings using streaming image data. First, an image processing pipeline is proposed to accurately segment trajectories from…
Event-based cameras offer much potential to the fields of robotics and computer vision, in part due to their large dynamic range and extremely high "frame rates". These attributes make them, at least in theory, particularly suitable for…
We present the first static-obstacle avoidance method for quadrotors using just an onboard, monocular event camera. Quadrotors are capable of fast and agile flight in cluttered environments when piloted manually, but vision-based autonomous…
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…
In order to autonomously learn wide repertoires of complex skills, robots must be able to learn from their own autonomously collected data, without human supervision. One learning signal that is always available for autonomously collected…
Event cameras deliver visual information characterized by a high dynamic range and high temporal resolution, offering significant advantages in estimating optical flow for complex lighting conditions and fast-moving objects. Current…
Reliable visual place recognition (VPR) under dynamic real-world conditions is critical for autonomous robots, yet conventional deep networks remain limited by high computational and energy demands. Inspired by the mammalian navigation…
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…
This paper presents FLAF, a focal line and feature-constrained active view planning method for tracking failure avoidance in feature-based visual navigation of mobile robots. Our FLAF-based visual navigation is built upon a feature-based…
The aim of this work is to use Variational Autoencoder (VAE) to learn a representation of an indoor environment that can be used for robot navigation. We use images extracted from a video, in which a camera takes a tour around a house, for…
When legged robots perform agile movements, traditional RGB cameras often produce blurred images, posing a challenge for rapid perception. Event cameras have emerged as a promising solution for capturing rapid perception and coping with…
High-speed vision sensing is essential for real-time perception in applications such as robotics, autonomous vehicles, and industrial automation. Traditional frame-based vision systems suffer from motion blur, high latency, and redundant…
This paper introduces a real-time Vehicle Collision Avoidance System (V-CAS) designed to enhance vehicle safety through adaptive braking based on environmental perception. V-CAS leverages the advanced vision-based transformer model RT-DETR,…
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-based vision sensors, such as the Dynamic Vision Sensor (DVS), are ideally suited for real-time motion analysis. The unique properties encompassed in the readings of such sensors provide high temporal resolution, superior sensitivity…
Prediction skills can be crucial for the success of tasks where robots have limited time to act or joints actuation power. In such a scenario, a vision system with a fixed, possibly too low, sampling rate could lead to the loss of…
Efficient point-to-point navigation in the presence of a background flow field is important for robotic applications such as ocean surveying. In such applications, robots may only have knowledge of their immediate surroundings or be faced…
Despite the dynamic development of computer vision algorithms, the implementation of perception and control systems for autonomous vehicles such as drones and self-driving cars still poses many challenges. A video stream captured by…
Event cameras are dynamic vision sensors inspired by the biological retina, characterized by their high dynamic range, high temporal resolution, and low power consumption. These features make them capable of perceiving 3D environments even…