相关论文: Event-based Agile Object Catching with a Quadruped…

Event-based vision revolutionizes traditional image sensing by capturing asynchronous intensity variations rather than static frames, enabling ultrafast temporal resolution, sparse data encoding, and enhanced motion perception. While this…

In comparison to conventional RGB cameras, the superior temporal resolution of event cameras allows them to capture rich information between frames, making them prime candidates for object tracking. Yet in practice, despite their…

Vision based and event based tactile sensors are important in robotic manipulation research. However, they suffer from a fundamental tradeoff: vision based sensors have low sampling rates, while event based sensors are prone to drift during…

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…

Event cameras capture changes of illumination in the observed scene rather than accumulating light to create images. Thus, they allow for applications under high-speed motion and complex lighting conditions, where traditional framebased…

Object pose tracking is one of the pivotal technologies in multimedia, attracting ever-growing attention in recent years. Existing methods employing traditional cameras encounter numerous challenges such as motion blur, sensor noise,…

This paper presents a long-term object tracking framework with a moving event camera under general tracking conditions. A first of its kind for these revolutionary cameras, the tracking framework uses a discriminative representation for the…

Quadruped robots are currently a widespread platform for robotics research, thanks to powerful Reinforcement Learning controllers and the availability of cheap and robust commercial platforms. However, to broaden the adoption of the…

Autonomous flight of flapping-wing robots is a major challenge for robot perception. Most of the previous sense-and-avoid works have studied the problem of obstacle avoidance for flapping-wing robots considering only static obstacles. This…

Event cameras record sparse illumination changes with high temporal resolution and high dynamic range. Thanks to their sparse recording and low consumption, they are increasingly used in applications such as AR/VR and autonomous driving.…

We use static object data to improve success detection for stacking objects on and nesting objects in one another. Such actions are necessary for certain robotics tasks, e.g., clearing a dining table or packing a warehouse bin. However,…

Gait recognition enables non-intrusive, privacy-preserving identification but suffers in uncontrolled environments due to illumination and motion sensitivity of conventional cameras. In this work, we explore gait recognition using event…

Event camera is a new type of sensor that is different from traditional cameras. Each pixel is triggered asynchronously by an event. The trigger event is the change of the brightness irradiated on the pixel. If the increment or decrement is…

Object detection has made impressive progress in recent years with the help of deep learning. However, state-of-the-art algorithms are both computation and memory intensive. Though many lightweight networks are developed for a trade-off…

Event-based data are commonly encountered in edge computing environments where efficiency and low latency are critical. To interface with such data and leverage their rich temporal features, we propose a causal spatiotemporal convolutional…

The enhanced mobility brought by legged locomotion empowers quadrupedal robots to navigate through complex and unstructured environments. However, optimizing agile locomotion while accounting for the varying energy costs of traversing…

Multi-legged elongate robots hold promise for maneuvering through complex environments. Prior work has demonstrated that reliable locomotion can be achieved using open-loop body undulation and foot placement on rugose terrain. However,…

Despite the promise of superior performance under challenging conditions, event-based motion estimation remains a hard problem owing to the difficulty of extracting and tracking stable features from event streams. In order to robustify the…

Event cameras are novel sensors that output brightness changes in the form of a stream of asynchronous "events" instead of intensity frames. They offer significant advantages with respect to conventional cameras: high dynamic range (HDR),…

As event-based sensing gains in popularity, theoretical understanding is needed to harness this technology's potential. Instead of recording video by capturing frames, event-based cameras have sensors that emit events when their inputs…