相关论文: AsynEVO: Asynchronous Event-Driven Visual Odometry…
Event-based cameras have shown great promise in a variety of situations where frame based cameras suffer, such as high speed motions and high dynamic range scenes. However, developing algorithms for event measurements requires a new class…
Mobile robots are reaching unprecedented speeds, with platforms like Unitree B2, and Fraunhofer O3dyn achieving maximum speeds between 5 and 10 m/s. However, effectively utilizing such speeds remains a challenge due to the limitations of…
Neuromorphic event-based cameras are bio-inspired visual sensors with asynchronous pixels and extremely high temporal resolution. Such favorable properties make them an excellent choice for solving state estimation tasks under aggressive…
Event cameras capture visual information with a high temporal resolution and a wide dynamic range. This enables capturing visual information at fine time granularities (e.g., microseconds) in rapidly changing environments. This makes event…
Event cameras are advantageous for tasks that require vision sensors with low-latency and sparse output responses. However, the development of deep network algorithms using event cameras has been slow because of the lack of large labelled…
The current event cameras are bio-inspired sensors that respond to brightness changes in the scene asynchronously and independently for every pixel, and transmit these changes as ternary event streams. Event cameras have several benefits…
Event cameras provide an advantage over traditional frame-based cameras when capturing fast-moving objects without a motion blur. They achieve this by recording changes in light intensity (known as events), thus allowing them to operate at…
We introduce EDS, a direct monocular visual odometry using events and frames. Our algorithm leverages the event generation model to track the camera motion in the blind time between frames. The method formulates a direct probabilistic…
Current optical flow and point-tracking methods rely heavily on synthetic datasets. Event cameras are novel vision sensors with advantages in challenging visual conditions, but state-of-the-art frame-based methods cannot be easily adapted…
Tracking the position and orientation of objects in space (i.e., in 6-DoF) in real time is a fundamental problem in robotics for environment interaction. It becomes more challenging when objects move at high-speed due to frame rate…
As neuromorphic sensors, event cameras asynchronously record changes in brightness as streams of sparse events with the advantages of high temporal resolution and high dynamic range. Reconstructing intensity images from events is a highly…
Recent advancements in 3D Gaussian Splatting (3D-GS) have demonstrated the potential of using 3D Gaussian primitives for high-speed, high-fidelity, and cost-efficient novel view synthesis from continuously calibrated input views. However,…
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…
In this work, we introduce the first framework for Motion-aware Event Suppression, which learns to filter events triggered by IMOs and ego-motion in real time. Our model jointly segments IMOs in the current event stream while predicting…
Despite the dynamic development of computer vision algorithms, the implementation of perception and control systems for autonomous vehicles such as drones and self-driving cars still poses many challenges. A video stream captured by…
Event cameras are bio-inspired vision sensors that naturally capture the dynamics of a scene, filtering out redundant information. This paper presents a deep neural network approach that unlocks the potential of event cameras on a…
Visual Odometry (VO) and SLAM are fundamental components for spatial perception in mobile robots. Despite enormous progress in the field, current VO/SLAM systems are limited by their sensors' capability. Event cameras are novel visual…
A useful application of event sensing is visual odometry, especially in settings that require high-temporal resolution. The state-of-the-art method of contrast maximisation recovers the motion from a batch of events by maximising 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),…
Identifying independently moving objects is an essential task for dynamic scene understanding. However, traditional cameras used in dynamic scenes may suffer from motion blur or exposure artifacts due to their sampling principle. By…