相关论文: An abstract theory of sensor eventification

In this paper, we investigate the stabilization of a nonlinear plant subject to network constraints, under the assumption of partial knowledge of the plant state. The event triggered paradigm is used for the observation and the control of…

Bio-inspired neuromorphic cameras asynchronously record pixel brightness changes and generate sparse event streams. They can capture dynamic scenes with little motion blur and more details in extreme illumination conditions. Due to the…

Event-based cameras have recently drawn the attention of the Computer Vision community thanks to their advantages in terms of high temporal resolution, low power consumption and high dynamic range, compared to traditional frame-based…

In this paper, we extend the recent body of work on planning under uncertainty to include the fact that sensors may not provide any measurement owing to misdetection. This is caused either by adverse environmental conditions that prevent…

To solve its task, a robot needs to have the ability to interpret its perceptions. In vision, this interpretation is particularly difficult and relies on the understanding of the structure of the scene, at least to the extent of its task…

Event cameras, also known as dynamic vision sensors, are an emerging modality for measuring fast dynamics asynchronously. Event cameras capture changes of log-intensity over time as a stream of 'events' and generally cannot measure…

Artificial perception is traditionally handled by hand-designing task specific algorithms. However, a truly autonomous robot should develop perceptive abilities on its own, by interacting with its environment, and adapting to new…

Sound event localization aims at estimating the positions of sound sources in the environment with respect to an acoustic receiver (e.g. a microphone array). Recent advances in this domain most prominently focused on utilizing deep…

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.…

Location estimation is a fundamental sensing task in robotic applications, where the world is uncertain, and sensors and effectors are noisy. Most systems make various assumptions about the dependencies between state variables, and…

The same machine learning model running on different edge devices may produce highly-divergent outputs on a nearly-identical input. Possible reasons for the divergence include differences in the device sensors, the device's signal…

Modeling imaging sensor noise is a fundamental problem for image processing and computer vision applications. While most previous works adopt statistical noise models, real-world noise is far more complicated and beyond what these models…

In this paper, we present a dataset capturing diverse visual data formats that target varying luminance conditions. While RGB cameras provide nourishing and intuitive information, changes in lighting conditions potentially result in…

A novel continuous-time framework is proposed for modeling neuromorphic image sensors in the form of an initial canonical representation with analytical tractability. Exact simulation algorithms are developed in parallel with closed-form…

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…

Reliable perception is essential for robots that interact with the world. But sensors alone are often insufficient to provide this capability, and they are prone to errors due to various conditions in the environment. Furthermore, there is…

The safety of mobile robots in dynamic environments is predicated on making sure that they do not collide with obstacles. In support of such safety arguments, we analyze and formally verify a series of increasingly powerful safety…

The information available to robots in real tasks is widely distributed both in time and space, requiring the agent to search for relevant data. In humans, that face the same problem when sounds, images and smells are presented to their…

Agents interacting with an incompletely known world need to be able to reason about the effects of their actions, and to gain further information about that world they need to use sensors of some sort. Unfortunately, both the effects of…

Perception algorithms that provide estimates of their uncertainty are crucial to the development of autonomous robots that can operate in challenging and uncontrolled environments. Such perception algorithms provide the means for having…