相关论文: MTevent: A Multi-Task Event Camera Dataset for 6D …

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…

This paper introduces key machine learning operations that allow the realization of robust, joint 6D pose estimation of multiple instances of objects either densely packed or in unstructured piles from RGB-D data. The first objective is to…

Different from visible cameras which record intensity images frame by frame, the biologically inspired event camera produces a stream of asynchronous and sparse events with much lower latency. In practice, visible cameras can better…

Simultaneous object recognition and pose estimation are two key functionalities for robots to safely interact with humans as well as environments. Although both object recognition and pose estimation use visual input, most state-of-the-art…

We present a novel method for detecting 3D model instances and estimating their 6D poses from RGB data in a single shot. To this end, we extend the popular SSD paradigm to cover the full 6D pose space and train on synthetic model data only.…

We study the problem of estimating optical flow from event cameras. One important issue is how to build a high-quality event-flow dataset with accurate event values and flow labels. Previous datasets are created by either capturing real…

Low-light environments pose significant challenges for image enhancement methods. To address these challenges, in this work, we introduce the HUE dataset, a comprehensive collection of high-resolution event and frame sequences captured in…

6D pose estimation of textureless objects is a valuable but challenging task for many robotic applications. In this work, we propose a framework to address this challenge using only RGB images acquired from multiple viewpoints. The core…

Monocular egocentric 3D human motion capture is a challenging and actively researched problem. Existing methods use synchronously operating visual sensors (e.g. RGB cameras) and often fail under low lighting and fast motions, which can be…

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…

This paper addresses the problem of detecting relevant motion caused by objects of interest (e.g., person and vehicles) in large scale home surveillance videos. The traditional method usually consists of two separate steps, i.e., detecting…

Combining multiple sensors enables a robot to maximize its perceptual awareness of environments and enhance its robustness to external disturbance, crucial to robotic navigation. This paper proposes the FusionPortable benchmark, a complete…

The broad scope of obstacle avoidance has led to many kinds of computer vision-based approaches. Despite its popularity, it is not a solved problem. Traditional computer vision techniques using cameras and depth sensors often focus on…

Ensuring robust and real-time obstacle avoidance is critical for the safe operation of autonomous robots in dynamic, real-world environments. This paper proposes a neural network framework for predicting the time and collision position of…

High dynamic range (HDR) imaging is a crucial task in computational photography, which captures details across diverse lighting conditions. Traditional HDR fusion methods face limitations in dynamic scenes with extreme exposure differences,…

Event cameras capture changes in brightness with microsecond precision and remain reliable under motion blur and challenging illumination, offering clear advantages for modeling highly dynamic scenes. Yet, their integration with natural…

Event based cameras are a new passive sensing modality with a number of benefits over traditional cameras, including extremely low latency, asynchronous data acquisition, high dynamic range and very low power consumption. There has been a…

Event cameras capture per-pixel brightness changes with microsecond resolution, offering continuous motion information lost between RGB frames. However, existing event-based motion estimators depend on large-scale synthetic data that often…

Enabled by large annotated datasets, tracking and segmentation of objects in videos has made remarkable progress in recent years. Despite these advancements, algorithms still struggle under degraded conditions and during fast movements.…

An event-based camera outputs an event whenever a change in scene brightness of a preset magnitude is detected at a particular pixel location in the sensor plane. The resulting sparse and asynchronous output coupled with the high dynamic…