相关论文: Continuous-Time Visual-Inertial Odometry for Event…
Event cameras are novel sensors that report brightness changes in the form of asynchronous "events" instead of intensity frames. They have significant advantages over conventional cameras: high temporal resolution, high dynamic range, and…
A useful application of event sensing is visual odometry, especially in settings that require high-temporal resolution. The state-of-the-art method of contrast maximisation recovers the motion from a batch of events by maximising the…
Event cameras have garnered considerable attention due to their advantages over traditional cameras in low power consumption, high dynamic range, and no motion blur. This paper proposes a monocular event-inertial odometry incorporating an…
Event cameras generate asynchronous signals in response to pixel-level brightness changes, offering a sensing paradigm with theoretically microsecond-scale latency that can significantly enhance the performance of multi-sensor systems.…
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…
We present a novel real-time visual odometry framework for a stereo setup of a depth and high-resolution event camera. Our framework balances accuracy and robustness against computational efficiency towards strong performance in challenging…
Recent works have combined monocular event camera and inertial measurement unit to estimate the $SE(3)$ trajectory. However, the asynchronicity of event cameras brings a great challenge to conventional fusion algorithms. In this paper, we…
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 state estimation tasks involving motion blur and high…
Event cameras are bio-inspired sensors that perform well in challenging illumination conditions and have high temporal resolution. However, their concept is fundamentally different from traditional frame-based cameras. The pixels of an…
Neuromorphic "event" cameras, designed to mimic the human vision system with asynchronous sensing, unlock a new realm of high-speed and high dynamic range applications. However, researchers often either revert to a framed representation of…
Event cameras, as bio-inspired sensors, are asynchronously triggered with high-temporal resolution compared to intensity cameras. Recent work has focused on fusing the event measurements with inertial measurements to enable ego-motion…
In this paper, we introduce IDOL, an optimization-based framework for IMU-DVS Odometry using Lines. Event cameras, also called Dynamic Vision Sensors (DVSs), generate highly asynchronous streams of events triggered upon illumination changes…
The robustness of event cameras to high dynamic range and motion blur holds the potential to improve visual odometry systems in challenging environments. Although their high temporal resolution does not require synchronous processing, most…
Direct methods for event-based visual odometry solve the mapping and camera pose tracking sub-problems by establishing implicit data association in a way that the generative model of events is exploited. The main bottlenecks faced by…
Event cameras are bio-inspired vision sensors that asynchronously measure per-pixel brightness changes.The high-temporal resolution and asynchronicity of event cameras offer great potential for estimating robot motion states. Recent works…
The bioinspired event camera, distinguished by its exceptional temporal resolution, high dynamic range, and low power consumption, has been extensively studied in recent years for motion estimation, robotic perception, and object detection.…
Cameras and inertial measurement units are complementary sensors for ego-motion estimation and environment mapping. Their combination makes visual-inertial odometry (VIO) systems more accurate and robust. For globally consistent mapping,…
Visual object tracking under challenging conditions of motion and light can be hindered by the capabilities of conventional cameras, prone to producing images with motion blur. Event cameras are novel sensors suited to robustly perform…
Event cameras, by virtue of their working principle, directly encode motion within a scene. Many learning-based and model-based methods exist that estimate event-based optical flow, however the temporally dense yet spatially sparse nature…
Event-based vision sensors, such as the Dynamic Vision Sensor (DVS), are ideally suited for real-time motion analysis. The unique properties encompassed in the readings of such sensors provide high temporal resolution, superior sensitivity…