相关论文: Monocular Event-Inertial Odometry with Adaptive de…
Event cameras are ideal for object tracking applications due to their ability to capture fast-moving objects while mitigating latency and data redundancy. Existing event-based clustering and feature tracking approaches for surveillance and…
A monocular 3D object tracking system generally has only up-to-scale pose estimation results without any prior knowledge of the tracked object. In this paper, we propose a novel idea to recover the metric scale of an arbitrary dynamic…
Event cameras are neuromorphically inspired sensors that sparsely and asynchronously report brightness changes. Their unique characteristics of high temporal resolution, high dynamic range, and low power consumption make them well-suited…
Combining cameras and inertial measurement units (IMUs) has been proven effective in motion tracking, as these two sensing modalities offer complementary characteristics that are suitable for fusion. While most works focus on global-shutter…
Event cameras, which are asynchronous bio-inspired vision sensors, have shown great potential in computer vision and artificial intelligence. However, the application of event cameras to object-level motion estimation or tracking is still…
Adverse weather conditions, particularly heavy snowfall, pose significant challenges to both human drivers and autonomous vehicles. Traditional image-based de-snowing methods often introduce hallucination artifacts as they rely solely on…
This paper presents a novel tightly coupled Filter-based monocular visual-inertial-wheel odometry (VIWO) system for ground robots, designed to deliver accurate and robust localization in long-term complex outdoor navigation scenarios. As an…
Visual 3D motion estimation aims to infer the motion of 2D pixels in 3D space based on visual cues. The key challenge arises from depth variation induced spatio-temporal motion inconsistencies, disrupting the assumptions of local spatial or…
Event cameras, inspired by biological vision systems, provide a natural and data efficient representation of visual information. Visual information is acquired in the form of events that are triggered by local brightness changes. Each pixel…
We present an approach for radar-inertial odometry which uses a continuous-time framework to fuse measurements from multiple automotive radars and an inertial measurement unit (IMU). Adverse weather conditions do not have a significant…
Accurate depth estimation under adverse night conditions has practical impact and applications, such as on autonomous driving and rescue robots. In this work, we studied monocular depth estimation at night time in which various adverse…
Event cameras generate asynchronous signals in response to pixel-level brightness changes, offering a sensing paradigm with theoretically microsecond-scale latency that can significantly enhance the performance of multi-sensor systems.…
Event camera is an emerging bio-inspired vision sensors that report per-pixel brightness changes asynchronously. It holds noticeable advantage of high dynamic range, high speed response, and low power budget that enable it to best capture…
Among prerequisites for a synthetic agent to interact with dynamic scenes, the ability to identify independently moving objects is specifically important. From an application perspective, nevertheless, standard cameras may deteriorate…
We present a real-time monocular thermal-inertial odometry system designed for high-velocity, GPS-denied flight on embedded hardware. The system fuses measurements from a FLIR Boson+ 640 longwave infrared camera, a high-rate IMU, a laser…
Event-based vision sensors, such as the Dynamic Vision Sensor (DVS), are ideally suited for real-time motion analysis. The unique properties encompassed in the readings of such sensors provide high temporal resolution, superior sensitivity…
Visual-inertial odometry (VIO) has demonstrated remarkable success due to its low-cost and complementary sensors. However, existing VIO methods lack the generalization ability to adjust to different environments and sensor attributes. In…
Event cameras that asynchronously output low-latency event streams provide great opportunities for state estimation under challenging situations. Despite event-based visual odometry having been extensively studied in recent years, most of…
The bioinspired event camera, distinguished by its exceptional temporal resolution, high dynamic range, and low power consumption, has been extensively studied in recent years for motion estimation, robotic perception, and object detection.…
Event cameras are bio-inspired sensors that perform well in challenging illumination conditions and have high temporal resolution. However, their concept is fundamentally different from traditional frame-based cameras. The pixels of an…