Related papers: Design of a Real-time Asynchronous Monocular Odome…
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…
Event cameras have shown promise in vision applications like optical flow estimation and stereo matching, with many specialized architectures leveraging the asynchronous and sparse nature of event data. However, existing works only focus…
In this paper, we present a UKF-PF based hybrid nonlinear filter for space object tracking. Estimating the state and its associated uncertainty, also known as filtering is paramount to the tracking process. The periodicity of the Keplerian…
Event cameras respond to changes in log-brightness at the millisecond level, making them ideal for optical flow estimation. However, existing datasets from event cameras provide only low frame rate ground truth for optical flow, limiting…
Event cameras are novel bio-inspired vision sensors that output pixel-level intensity changes in microsecond accuracy with a high dynamic range and low power consumption. Despite these advantages, event cameras cannot be directly applied to…
With the growing adoption of autonomous driving, the advancement of sensor technology is crucial for ensuring safety and reliable operation. Sensor fusion techniques that combine multiple sensors such as LiDAR, radar, and cameras have…
Relative state estimation is crucial for vision-based swarms to estimate and compensate for the unavoidable drift of visual odometry. For autonomous drones equipped with the most compact sensor setting -- a stereo camera that provides a…
Accurate and robust pose estimation plays a crucial role in many robotic systems. Popular algorithms for pose estimation typically rely on high-fidelity and high-frequency signals from various sensors. Inclusion of these sensors makes the…
We present a new dataset to evaluate monocular, stereo, and plenoptic camera based visual odometry algorithms. The dataset comprises a set of synchronized image sequences recorded by a micro lens array (MLA) based plenoptic camera and a…
Dynamic Range (DR) is a pivotal characteristic of imaging systems. Current frame-based cameras struggle to achieve high dynamic range imaging due to the conflict between globally uniform exposure and spatially variant scene illumination. In…
This paper looks into the problem of pedestrian tracking using a monocular, potentially moving, uncalibrated camera. The pedestrians are located in each frame using a standard human detector, which are then tracked in subsequent frames.…
This paper presents a lightweight LiDAR-inertial-visual odometry system optimized for resource-constrained platforms. It integrates a degeneration-aware adaptive visual frame selector into error-state iterated Kalman filter (ESIKF) with…
In this letter, we propose a robust, real-time tightly-coupled multi-sensor fusion framework, which fuses measurement from LiDAR, inertial sensor, and visual camera to achieve robust and accurate state estimation. Our proposed framework is…
Small flying robots can perform landing maneuvers using bio-inspired optical flow by maintaining a constant divergence. However, optical flow is typically estimated from frame sequences recorded by standard miniature cameras. This requires…
Visual Odometry (VO) is crucial for autonomous robotic navigation, especially in GPS-denied environments like planetary terrains. To improve robustness, recent model-based VO systems have begun combining standard and event-based cameras.…
Navigation using only one marker, which contains four artificial features, is a challenging task since camera pose estimation using only four coplanar points suffers from the rotational ambiguity problem in a real-world application. This…
The frame rates of most 3D LIDAR sensors used in intelligent vehicles are substantially lower than current cameras installed in the same vehicle. This research suggests using a mono camera to virtually enhance the frame rate of LIDARs,…
Estimating absolute camera orientations is essential for attitude estimation tasks. An established approach is to first carry out visual odometry (VO) or visual SLAM (V-SLAM), and retrieve the camera orientations (3 DOF) from the camera…
We present a method for image-guided exploration for mobile robotic systems. Our approach extends ergodic exploration methods, a recent exploration approach that prioritizes complete coverage of a space, with the use of a learned image…
Directly imaging Earth-like exoplanets (``exoEarths'') with a coronagraph instrument on a space telescope requires a stable wavefront with optical path differences limited to tens of picometers RMS during exposure times of a few hours.…