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Event cameras are novel neuromorphic vision sensors with ultrahigh temporal resolution and low latency, both in the order of microseconds. Instead of image frames, event cameras generate an asynchronous event stream of per-pixel intensity…

3D object proposals, quickly detected regions in a 3D scene that likely contain an object of interest, are an effective approach to improve the computational efficiency and accuracy of the object detection framework. In this work, we…

Object detection and tracking is an essential perception task for enabling fully autonomous navigation in robotic systems. Edge robot systems such as small drones need to execute complex maneuvers at high-speeds with limited resources,…

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.…

Tracking the pose of an object while it is being held and manipulated by a robot hand is difficult for vision-based methods due to significant occlusions. Prior works have explored using contact feedback and particle filters to localize…

We demonstrate that, under orthographic projection and with a camera fixated on a point located on a rigid body, the rotation of that body can be analytically obtained by tracking only one other feature in the image. With some exceptions,…

Finding robot poses and trajectories represents a foundational aspect of robot motion planning. Despite decades of research, efficiently and robustly addressing these challenges is still difficult. Existing approaches are often plagued by…

Event cameras are novel sensors that perceive the per-pixel intensity changes and output asynchronous event streams, showing lots of advantages over traditional cameras, such as high dynamic range (HDR) and no motion blur. It has been shown…

This research project addresses the challenge of accurately tracking eye movements during specific events by leveraging previous research. Given the rapid movements of human eyes, which can reach speeds of 300{\deg}/s, precise eye tracking…

Tracking body and hand motions in the 3D space is essential for social and self-presence in augmented and virtual environments. Unlike the popular 3D pose estimation setting, the problem is often formulated as inside-out tracking based on…

Event cameras offer high temporal resolution and low latency, making them ideal sensors for high-speed robotic applications where conventional cameras suffer from image degradations such as motion blur. In addition, their low power…

Different from traditional video cameras, event cameras capture asynchronous events stream in which each event encodes pixel location, trigger time, and the polarity of the brightness changes. In this paper, we introduce a novel graph-based…

Event-based cameras offer much potential to the fields of robotics and computer vision, in part due to their large dynamic range and extremely high "frame rates". These attributes make them, at least in theory, particularly suitable for…

Object tracking is an essential problem in computer vision that has been researched for several decades. One of the main challenges in tracking is to adapt to object appearance changes over time and avoiding drifting to background clutter.…

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…

This project aims to develop a robust video surveillance system, which can segment videos into smaller clips based on the detection of activities. It uses CCTV footage, for example, to record only major events-like the appearance of a…

This paper addresses recursive markerless estimation of a robot's end-effector using visual observations from its cameras. The problem is formulated into the Bayesian framework and addressed using Sequential Monte Carlo (SMC) filtering. We…

Advancement of imaging techniques enables consecutive image sequences to be acquired for quality monitoring of manufacturing production lines. Registration for these image sequences is essential for in-line pattern inspection and metrology,…

Optical flow computation with frame-based cameras provides high accuracy but the speed is limited either by the model size of the algorithm or by the frame rate of the camera. This makes it inadequate for high-speed applications. Event…

The ever-increasing use of artificial intelligence in autonomous systems has significantly contributed to advance the research on multi-object tracking, adopted in several real-time applications (e.g., autonomous driving, surveillance…