相关论文: Event-based Agile Object Catching with a Quadruped…
With the increasing complexity of mobile device applications, these devices are evolving toward high agility. This shift imposes new demands on mobile sensing, particularly in achieving high-accuracy and low-latency. Event-based vision has…
We present a method that leverages the complementarity of event cameras and standard cameras to track visual features with low-latency. Event cameras are novel sensors that output pixel-level brightness changes, called "events". They offer…
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 visual tasks in high-speed maneuvering scenarios.…
Performing agile navigation with four-legged robots is a challenging task due to the highly dynamic motions, contacts with various parts of the robot, and the limited field of view of the perception sensors. In this paper, we propose a…
Vision-based localization is a cost-effective and thus attractive solution for many intelligent mobile platforms. However, its accuracy and especially robustness still suffer from low illumination conditions, illumination changes, and…
Quadruped robots are proliferating in industrial environments where they carry sensor payloads and serve as autonomous inspection platforms. Despite the advantages of legged robots over their wheeled counterparts on rough and uneven…
Event cameras are bio-inspired sensors that perform well in HDR conditions and have high temporal resolution. However, different from traditional frame-based cameras, event cameras measure asynchronous pixel-level brightness changes and…
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…
The high frame rate is a critical requirement for capturing fast human motions. In this setting, existing markerless image-based methods are constrained by the lighting requirement, the high data bandwidth and the consequent high…
Event-based vision has been rapidly growing in recent years justified by the unique characteristics it presents such as its high temporal resolutions (~1us), high dynamic range (>120dB), and output latency of only a few microseconds. This…
We demonstrate the first reinforcement-learning application for robots equipped with an event camera. Because of the considerably lower latency of the event camera, it is possible to achieve much faster control of robots compared with the…
Reliable perception during fast motion maneuvers or in high dynamic range environments is crucial for robotic systems. Since event cameras are robust to these challenging conditions, they have great potential to increase the reliability of…
Robotic grippers are receiving increasing attention in various industries as essential components of robots for interacting and manipulating objects. While significant progress has been made in the past, conventional rigid grippers still…
Event cameras offer unparalleled advantages for real-time perception in dynamic environments, thanks to the microsecond-level temporal resolution and asynchronous operation. Existing event detectors, however, are limited by fixed-frequency…
Recently, we have witnessed the rise of novel ``event-based'' camera sensors for high-speed, low-power video capture. Rather than recording discrete image frames, these sensors output asynchronous ``event'' tuples with microsecond…
Pose estimation and tracking of objects is a fundamental application in 3D vision. Event cameras possess remarkable attributes such as high dynamic range, low latency, and resilience against motion blur, which enables them to address…
Traversing 3-D complex environments has always been a significant challenge for legged locomotion. Existing methods typically rely on external sensors such as vision and lidar to preemptively react to obstacles by acquiring environmental…
The combination of LiDARs and cameras enables a mobile robot to perceive environments with multi-modal data, becoming a key factor in achieving robust perception. Traditional frame cameras are sensitive to changing illumination conditions,…
Perception systems for ornithopters face severe challenges. The harsh vibrations and abrupt movements caused during flapping are prone to produce motion blur and strong lighting condition changes. Their strict restrictions in weight, size,…
Event-based cameras are bio-inspired vision sensors whose pixels work independently from each other and respond asynchronously to brightness changes, with microsecond resolution. Their advantages make it possible to tackle challenging…