Related papers: HelixTrack: Event-Based Tracking and RPM Estimatio…
This paper investigates trajectory prediction for robotics, to improve the interaction of robots with moving targets, such as catching a bouncing ball. Unexpected, highly-non-linear trajectories cannot easily be predicted with…
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…
When manipulating an object to accomplish complex tasks, humans rely on both vision and touch to keep track of the object's 6D pose. However, most existing object pose tracking systems in robotics rely exclusively on visual signals, which…
Autonomous drone pursuit requires not only detecting drones but also predicting their trajectories in a manner that enables kinematically feasible interception. Existing tracking methods optimize for prediction accuracy but ignore pursuit…
Recent advances in transformer-based lightweight object tracking have established new standards across benchmarks, leveraging the global receptive field and powerful feature extraction capabilities of attention mechanisms. Despite these…
Object tracking is an important functionality of edge video analytic systems and services. Multi-object tracking (MOT) detects the moving objects and tracks their locations frame by frame as real scenes are being captured into a video.…
Visual 3D motion estimation aims to infer the motion of 2D pixels in 3D space based on visual cues. The key challenge arises from depth variation induced spatio-temporal motion inconsistencies, disrupting the assumptions of local spatial or…
In this paper, we present a novel cascade control structure with formal guarantees of uniform almost global asymptotic stability for the state tracking error dynamics of a quadcopter. The proposed approach features a model predictive…
We present FAST-Hex, a micro aerial hexarotor platform that allows to seamlessly transit from an under-actuated to a fully-actuated configuration with only one additional control input, a motor that synchronously tilts all propellers. The…
A unique approach for the mid-air autonomous aerial interception of non-cooperating UAV by a flying robot equipped with a net is presented in this paper. A novel interception guidance method dubbed EPN is proposed, designed to catch agile…
Existing single-modal RGB trackers often face performance bottlenecks in complex dynamic scenes, while the introduction of event sensors offers new potential for enhancing tracking capabilities. However, most current RGB-event fusion…
Conventional multi-object tracking (MOT) systems are predominantly designed for pedestrian tracking and often exhibit limited generalization to other object categories. This paper presents a generalized tracking framework capable of…
In applied machine learning, concept drift, which is either gradual or abrupt changes in data distribution, can significantly reduce model performance. Typical detection methods,such as statistical tests or reconstruction-based models,are…
Multi-Object Tracking (MOT) aims to maintain stable and uninterrupted trajectories for each target. Most state-of-the-art approaches first detect objects in each frame and then implement data association between new detections and existing…
Eye tracking is a key technology for gaze-based interactions in Extended Reality (XR), but traditional frame-based systems struggle to meet XR's demands for high accuracy, low latency, and power efficiency. Event cameras offer a promising…
Object tracking has been broadly applied in unmanned aerial vehicle (UAV) tasks in recent years. However, existing algorithms still face difficulties such as partial occlusion, clutter background, and other challenging visual factors.…
Repetitive Action Counting (RAC) aims to count the number of repetitive actions occurring in videos. In the real world, repetitive actions have great diversity and bring numerous challenges (e.g., viewpoint changes, non-uniform periods, and…
This paper addresses the challenges of estimating a continuous-time human motion field from a stream of events. Existing Human Mesh Recovery (HMR) methods rely predominantly on frame-based approaches, which are prone to aliasing and…
This paper introduces a novel, small form-factor, aerial vehicle research platform for agile object detection, classification, tracking, and interaction tasks. General-purpose hardware components were designed to augment a given aerial…
We tackle the problem of planning a minimum-time trajectory for a quadrotor over a sequence of specified waypoints in the presence of obstacles while exploiting the full quadrotor dynamics. This problem is crucial for autonomous search and…