Related papers: Bio-Inspired Event-Based Visual Servoing for Groun…
Event-based camera is a bio-inspired vision sensor that records intensity changes (called event) asynchronously in each pixel. As an instance of event-based camera, Dynamic and Active-pixel Vision Sensor (DAVIS) combines a standard camera…
As an alternative sensing paradigm, dynamic vision sensors (DVS) have been recently explored to tackle scenarios where conventional sensors result in high data rate and processing time. This paper presents a hybrid event-frame approach for…
Visual servoing involves choosing actions that move a robot in response to observations from a camera, in order to reach a goal configuration in the world. Standard visual servoing approaches typically rely on manually designed features and…
This work presents the dual benefit of integrating imitation learning techniques, based on the dynamical systems formalism, with the visual servoing paradigm. On the one hand, dynamical systems allow to program additional skills without…
Event cameras, or Dynamic Vision Sensor (DVS), are very promising sensors which have shown several advantages over frame based cameras. However, most recent work on real applications of these cameras is focused on 3D reconstruction and…
Event cameras are a bio-inspired class of sensors that asynchronously measure per-pixel intensity changes. Under fixed illumination conditions in static or low-motion scenes, rigidly mounted event cameras are unable to generate any events…
Perception systems in robotics encounter significant challenges in high-speed and dynamic conditions when relying on traditional cameras, where motion blur can compromise spatial feature integrity and task performance. Brain-inspired vision…
Dynamic Vision Sensor (DVS)-based solutions have recently garnered significant interest across various computer vision tasks, offering notable benefits in terms of dynamic range, temporal resolution, and inference speed. However, as a…
This paper presents an adaptive visual servoing framework for robotic on-orbit servicing (OOS), specifically designed for capturing tumbling satellites. The vision-guided robotic system is capable of selecting optimal control actions in the…
Neuromorphic event-based cameras are bio-inspired visual sensors with asynchronous pixels and extremely high temporal resolution. Such favorable properties make them an excellent choice for solving state estimation tasks under aggressive…
Event cameras open up new possibilities for robotic perception due to their low latency and high dynamic range. On the other hand, developing effective event-based vision algorithms that fully exploit the beneficial properties of event…
In everyday life collaboration tasks between human operators and robots, the former necessitate simple ways for programming new skills, the latter have to show adaptive capabilities to cope with environmental changes. The joint use of…
We propose a visual servoing method consisting of a detection network and a velocity trajectory planner. First, the detection network estimates the objects position and orientation in the image space. Furthermore, these are normalized and…
Event-based cameras are biologically inspired sensors that output events, i.e., asynchronous pixel-wise brightness changes in the scene. Their high dynamic range and temporal resolution of a microsecond makes them more reliable than…
Fast neuromorphic event-based vision sensors (Dynamic Vision Sensor, DVS) can be combined with slower conventional frame-based sensors to enable higher-quality inter-frame interpolation than traditional methods relying on fixed motion…
With the development of embodied artificial intelligence, robotic research has increasingly focused on complex tasks. Existing simulation platforms, however, are often limited to idealized environments, simple task scenarios and lack data…
The Dynamic Vision Sensor (DVS) is an innovative technology that efficiently captures and encodes visual information in an event-driven manner. By combining it with event-driven neuromorphic processing, the sparsity in DVS camera output can…
Event-based cameras are bio-inspired sensors with pixels that independently and asynchronously respond to brightness changes at microsecond resolution, offering the potential to handle visual tasks in challenging scenarios. However, due to…
The simplicity of the visual servoing approach makes it an attractive option for tasks dealing with vision-based control of robots in many real-world applications. However, attaining precise alignment for unseen environments pose a…
Dynamic Vision Sensor (DVS) event camera models are important tools for predicting camera response, optimizing biases, and generating realistic simulated datasets. Existing DVS models have been useful, but have not demonstrated high realism…