Related papers: HelixTrack: Event-Based Tracking and RPM Estimatio…
Autonomous quadrotor flight in confined spaces such as pipes and tunnels presents significant challenges due to unsteady, self-induced aerodynamic disturbances. Very recent advances have enabled flight in such conditions, but they either…
Star trackers are state-of-the-art attitude estimation devices which function by recognising and tracking star patterns. Most commercial star trackers use conventional optical sensors. A recent alternative is to use event sensors, which…
Quadrupedal robots are conquering various indoor and outdoor applications due to their ability to navigate challenging uneven terrains. Exteroceptive information greatly enhances this capability since perceiving their surroundings allows…
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).…
In this paper, a novel image moments based model for shape estimation and tracking of an object moving with a complex trajectory is presented. The camera is assumed to be stationary looking at a moving object. Point features inside the…
Event cameras capture per-pixel brightness changes with microsecond resolution, offering continuous motion information lost between RGB frames. However, existing event-based motion estimators depend on large-scale synthetic data that often…
This paper proposes Elastic Tracker, a flexible trajectory planning framework that can deal with challenging tracking tasks with guaranteed safety and visibility. Firstly, an object detection and intension-free motion prediction method is…
Eye-tracking is a vital technology for human-computer interaction, especially in wearable devices such as AR, VR, and XR. The realization of high-speed and high-precision eye-tracking using frame-based image sensors is constrained by their…
Detecting fast-moving objects, such as unmanned aerial vehicle (UAV), from event camera data is challenging due to the sparse, asynchronous nature of the input. Traditional Discrete Fourier Transforms (DFT) are effective at identifying…
Event cameras, known for their high temporal resolution and ability to capture asynchronous changes, have gained significant attention for their potential in feature tracking, especially in challenging conditions. However, event cameras…
Existing tracking algorithms typically rely on low-frame-rate RGB cameras coupled with computationally intensive deep neural network architectures to achieve effective tracking. However, such frame-based methods inherently face challenges…
Event cameras encode visual information with high temporal precision, low data-rate, and high-dynamic range. Thanks to these characteristics, event cameras are particularly suited for scenarios with high motion, challenging lighting…
This work presents novel discrete event-based simulation algorithms based on the Quantized State System (QSS) numerical methods. QSS provides attractive features for particle transportation processes, in particular a very efficient handling…
Rotational speed is one of the important metrics to be measured for calibrating the electric motors in manufacturing, monitoring engine during car repairing, faults detection on electrical appliance and etc. However, existing measurement…
We present a novel object tracking scheme that can track rigid objects in real time. The approach uses subpixel-precise image edges to track objects with high accuracy. It can determine the object position, scale, and rotation with…
This paper aims to develop a hierarchical nonlinear control algorithm, based on model predictive control (MPC), quadratic programming (QP), and virtual constraints, to generate and stabilize locomotion patterns in a real-time manner for…
High-speed obstacle avoidance of uncrewed aerial vehicles (UAVs) in cluttered environments is a significant challenge. Existing UAV planning and obstacle avoidance systems can only fly at moderate speeds or at high speeds over empty or…
Latent world models can contain the state needed for control, yet their terminal-cost interface can expose the planner to the wrong decision-relevant information. In common latent MPC, candidate sequences are ranked by Euclidean distance…
Flying quadrotors in tight formations is a challenging problem. It is known that in the near-field airflow of a quadrotor, the aerodynamic effects induced by the propellers are complex and difficult to characterize. Although machine…
Hybrid Flying-Crawling Quadrotors (HyFCQs) are transformable robots with the ability of terrestrial and aerial hybrid motion. This article presents a trajectory planning and tracking framework designed for HyFCQs. In this framework, a…