相关论文: ESVIO: Event-based Stereo Visual Inertial Odometry
Event cameras, known for low-latency operation and superior performance in challenging lighting conditions, are suitable for sensitive computer vision tasks such as semantic segmentation in autonomous driving. However, challenges arise due…
Traditional Visual Odometry (VO) and Visual Inertial Odometry (VIO) methods rely on a 'pose-centric' paradigm, which computes absolute camera poses from the local map thus requires large-scale landmark maintenance and continuous map…
LiDAR Inertial Odometry (LIO) is a critical component for many mobile robots that need to navigate without relying on external positioning (e.g., GPS). Platforms that operate autonomously in different environments and with heterogeneous…
Robust feature matching forms the backbone for most Visual Simultaneous Localization and Mapping (vSLAM), visual odometry, 3D reconstruction, and Structure from Motion (SfM) algorithms. However, recovering feature matches from texture-poor…
Visual motion estimation is a well-studied challenge in autonomous navigation. Recent work has focused on addressing multimotion estimation in highly dynamic environments. These environments not only comprise multiple, complex motions but…
Event cameras capture per-pixel brightness changes with microsecond resolution, offering continuous motion information lost between RGB frames. However, existing event-based motion estimators depend on large-scale synthetic data that often…
We propose a framework for tightly-coupled lidar-visual-inertial odometry via smoothing and mapping, LVI-SAM, that achieves real-time state estimation and map-building with high accuracy and robustness. LVI-SAM is built atop a factor graph…
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…
We present an open-source Visual-Inertial-Leg Odometry (VILO) state estimation solution, Cerberus, for legged robots that estimates position precisely on various terrains in real time using a set of standard sensors, including stereo…
Autonomous navigation for legged robots in complex and dynamic environments relies on robust simultaneous localization and mapping (SLAM) systems to accurately map surroundings and localize the robot, ensuring safe and efficient operation.…
In this paper, we present EBBIOT-a novel paradigm for object tracking using stationary neuromorphic vision sensors in low-power sensor nodes for the Internet of Video Things (IoVT). Different from fully event based tracking or fully frame…
An accurate and efficient epileptic seizure onset detection can significantly benefit patients. Traditional diagnostic methods, primarily relying on electroencephalograms (EEGs), often result in cumbersome and non-portable solutions, making…
Event cameras are bio-inspired sensors that output asynchronous and sparse event streams, instead of fixed frames. Benefiting from their distinct advantages, such as high dynamic range and high temporal resolution, event cameras have been…
Event cameras respond to scene dynamics and offer advantages to estimate motion. Following recent image-based deep-learning achievements, optical flow estimation methods for event cameras have rushed to combine those image-based methods…
Event cameras, inspired by biological vision, are asynchronous sensors that detect changes in brightness, offering notable advantages in environments characterized by high-speed motion, low lighting, or wide dynamic range. These distinctive…
In this paper, we present iDVO (inertia-embedded deep visual odometry), a self-supervised learning based monocular visual odometry (VO) for road vehicles. When modelling the geometric consistency within adjacent frames, most deep VO methods…
Small vibrations observed in video can unveil information beyond what is visual, such as sound and material properties. It is possible to passively record these vibrations when they are visually perceptible, or actively amplify their visual…
Rapid and reliable identification of dynamic scene parts, also known as motion segmentation, is a key challenge for mobile sensors. Contemporary RGB camera-based methods rely on modeling camera and scene properties however, are often…
Event-based camera is a bio-inspired vision sensor that records intensity changes (called event) asynchronously in each pixel. As an instance of event-based camera, Dynamic and Active-pixel Vision Sensor (DAVIS) combines a standard camera…
This work quantitatively evaluates the performance of event-based vision systems (EVS) against conventional RGB-based models for action prediction in collision avoidance on an FPGA accelerator. Our experiments demonstrate that the EVS model…