相关论文: Neuromorphic Vision Based Control for the Precise …
This technical report presents a novel DMD-based characterization method for vision sensors, particularly neuromorphic sensors such as event-based vision sensors (EVS) and Tianmouc, a complementary vision sensor. Traditional image sensor…
Neuromorphic vision made significant progress in recent years, thanks to the natural match between spiking neural networks and event data in terms of biological inspiration, energy savings, latency and memory use for dynamic visual data…
The accurate reconstruction of dynamic scenes with neural radiance fields is significantly dependent on the estimation of camera poses. Widely used structure-from-motion pipelines encounter difficulties in accurately tracking the camera…
As robots become smarter and more ubiquitous, optimizing the power consumption of intelligent compute becomes imperative towards ensuring the sustainability of technological advancements. Neuromorphic computing hardware makes use of…
This work introduces a novel bio-inspired reconfigurable stereo vision system for robotics, leveraging omnidirectional cameras and a novel algorithm to achieve flexible visual capabilities. Inspired by the adaptive vision of various…
The real-world application of small drones is mostly hampered by energy limitations. Neuromorphic computing promises extremely energy-efficient AI for autonomous flight but is still challenging to train and deploy on real robots. To reap…
Recent advances in visual 6D pose estimation of objects using deep neural networks have enabled novel ways of vision-based control for heavy-duty robotic applications. In this study, we present a pipeline for the precise tool positioning of…
Due to the ability to synthesize high-quality novel views, Neural Radiance Fields (NeRF) have been recently exploited to improve visual localization in a known environment. However, the existing methods mostly utilize NeRFs for data…
In this work, we present an effective multi-view approach to closed-loop end-to-end learning of precise manipulation tasks that are 3D in nature. Our method learns to accomplish these tasks using multiple statically placed but uncalibrated…
During the past decade, interest has grown significantly in developing ultrasensitive widefield diamond magnetometry for various applications. Despite attempts to improve the adoption of conventional frame-based sensors, achieving high…
In autonomous aerial navigation, real-time and energy-efficient obstacle avoidance remains a significant challenge, especially in dynamic and complex indoor environments. This work presents a novel integration of neuromorphic event cameras…
Robotic manipulation in complex scenes demands precise perception of task-relevant details, yet fixed or suboptimal viewpoints often impair fine-grained perception and induce occlusions, constraining imitation-learned policies. We present…
With the fast and unstoppable evolution of robotics and artificial intelligence, effective autonomous navigation in real-world scenarios has become one of the most pressing challenges in the literature. However, demanding requirements, such…
Continuum robots possess high flexibility and redundancy, making them well suited for safe interaction in complex environments, yet their continuous deformation and nonlinear dynamics pose fundamental challenges to perception, modeling, and…
Neuromorphic computing mimics computational principles of the brain in $\textit{silico}$ and motivates research into event-based vision and spiking neural networks (SNNs). Event cameras (ECs) exclusively capture local intensity changes and…
Underwater environments impose severe constraints on conventional imaging systems and demand solutions that balance high-quality sensing with strict resource efficiency. While emerging event cameras offer a promising alternative, their…
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…
Legged robots have the potential to expand the reach of autonomy beyond paved roads. In this work, we consider the difficult problem of locomotion on challenging terrains using a single forward-facing depth camera. Due to the partial…
In this paper, we tackle the problem of active robotic 3D reconstruction of an object. In particular, we study how a mobile robot with an arm-held camera can select a favorable number of views to recover an object's 3D shape efficiently.…
The assembly of printed circuit boards (PCBs) is one of the standard processes in chip production, directly contributing to the quality and performance of the chips. In the automated PCB assembly process, machine vision and coordinate…