Related papers: Relative State Estimation using Event-Based Propel…

Event cameras are increasingly popular in robotics due to beneficial features such as low latency, energy efficiency, and high dynamic range. Nevertheless, their downstream task performance is greatly influenced by the optimization of bias…

Human pose estimation focuses on predicting body keypoints to analyze human motion. Currently, most pose estimation tasks rely on conventional RGB cameras. In contrast, event cameras provide high temporal resolution and low latency,…

Pose tracking of uncooperative spacecraft is an essential technology for space exploration and on-orbit servicing, which remains an open problem. Event cameras possess numerous advantages, such as high dynamic range, high temporal…

This paper addresses the problem of estimating the relative pose (position and orientation) and velocity of a vehicle with respect to a moving target, where both are equipped with Inertial Measurement Units (IMUs), assuming the availability…

Given a text query, partially relevant video retrieval (PRVR) aims to retrieve untrimmed videos containing relevant moments, wherein event modeling is crucial for partitioning the video into smaller temporal events that partially correspond…

Simultaneously accurate and reliable tracking control for quadrotors in complex dynamic environments is challenging. As aerodynamics derived from drag forces and moment variations are chaotic and difficult to precisely identify, most…

Aerial surveillance demands rapid and precise detection of moving objects in dynamic environments. Event cameras, which draw inspiration from biological vision systems, present a promising alternative to frame-based sensors due to their…

State estimation for a class of linear time-invariant systems with distributed output measurements (distributed sensors) and unknown inputs is addressed in this paper. The objective is to design a network of observers such that the state…

Autonomous missions of small unmanned aerial vehicles (UAVs) are prone to collisions owing to environmental disturbances and localization errors. Consequently, a UAV that can endure collisions and perform recovery control in critical aerial…

In recent years, there has been a growing interest in realizing methodologies to integrate more and more computation at the level of the image sensor. The rising trend has seen an increased research interest in developing novel event…

This paper proposes a multi-sensor based approach to detect, track, and localize a quadcopter unmanned aerial vehicle (UAV). Specifically, a pipeline is developed to process monocular RGB and thermal video (captured from a fixed platform)…

In networked systems, state estimation is hampered by communication limits. Past approaches, which consider scheduling sensors through deterministic event-triggers, reduce communication and maintain estimation quality. However, these…

One of the core activities of an active observer involves moving to secure a "better" view of the scene, where the definition of "better" is task-dependent. This paper focuses on the task of human pose estimation from videos capturing a…

Estimating human pose using a front-facing egocentric camera is essential for applications such as sports motion analysis, VR/AR, and AI for wearable devices. However, many existing methods rely on RGB cameras and do not account for…

Event cameras are bio-inspired sensors that differ from conventional frame cameras: Instead of capturing images at a fixed rate, they asynchronously measure per-pixel brightness changes, and output a stream of events that encode the time,…

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…

The increasing popularity of quadrotors has given rise to a class of predominantly vision-driven vehicles. This paper addresses the problem of perception-aware time optimal path parametrization for quadrotors. Although many different…

Accurate diagnosis of propeller faults is crucial for ensuring the safe and efficient operation of quadrotors. Training a fault classifier using simulated data and deploying it on a real quadrotor is a cost-effective and safe approach.…

Event cameras have a lot of advantages over traditional cameras, such as low latency, high temporal resolution, and high dynamic range. However, since the outputs of event cameras are the sequences of asynchronous events overtime rather…

This article addresses the problem of state observer design for continuous-time linear positive networked systems. Considering the bandwidth constraint in the communication network, an event-measurement-based positive observer design is…