相关论文: Event-RGB Fusion for Spacecraft Pose Estimation Un…

With the growing interest in on On-orbit servicing (OOS) and Active Debris Removal (ADR) missions, spacecraft poses estimation algorithms are being developed using deep learning to improve the precision of this complex task and find the…

Reliable relative pose estimation is a key enabler for autonomous rendezvous and proximity operations, yet space imagery is notoriously challenging due to extreme illumination, high contrast, and fast target motion. Event cameras provide…

Imitation learning is employed to learn sensorimotor coordination for steering angle prediction in an end-to-end fashion requires expert demonstrations. These expert demonstrations are paired with environmental perception and vehicle…

Multimodal deep sensor fusion has the potential to enable autonomous vehicles to visually understand their surrounding environments in all weather conditions. However, existing deep sensor fusion methods usually employ convoluted…

In this work, we present optical space imaging using an unconventional yet promising class of imaging devices known as neuromorphic event-based sensors. These devices, which are modeled on the human retina, do not operate with frames, but…

Event-based cameras, also called silicon retinas, potentially revolutionize computer vision by detecting and reporting significant changes in intensity asynchronous events, offering extended dynamic range, low latency, and low power…

Modeling Neural Radiance Fields for fast-moving deformable objects from visual data alone is a challenging problem. A major issue arises due to the high deformation and low acquisition rates. To address this problem, we propose to use event…

Robots and other smart devices need efficient object-based scene representations from their on-board vision systems to reason about contact, physics and occlusion. Recognized precise object models will play an important role alongside…

Dynamic vision sensors or event cameras provide rich complementary information for video frame interpolation. Existing state-of-the-art methods follow the paradigm of combining both synthesis-based and warping networks. However, few of…

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…

Accurate in-hand pose estimation is crucial for robotic object manipulation, but visual occlusion remains a major challenge for vision-based approaches. This paper presents an approach to robotic in-hand object pose estimation, combining…

Pose tracking of uncooperative spacecraft is an essential technology for space exploration and on-orbit servicing, which remains an open problem. Event cameras possess numerous advantages, such as high dynamic range, high temporal…

In this thesis, we address the problem of estimating the 6D pose of rigid objects from a single RGB or RGB-D input image, assuming that 3D models of the objects are available. This problem is of great importance to many application fields…

We present a novel method to estimate the surface normal of an object in an ambient light environment using RGB and event cameras. Modern photometric stereo methods rely on an RGB camera, mainly in a dark room, to avoid ambient…

An important logistics application of robotics involves manipulators that pick-and-place objects placed in warehouse shelves. A critical aspect of this task corre- sponds to detecting the pose of a known object in the shelf using visual…

Recently, the RGB images and point clouds fusion methods have been proposed to jointly estimate 2D optical flow and 3D scene flow. However, as both conventional RGB cameras and LiDAR sensors adopt a frame-based data acquisition mechanism,…

Event cameras capture sparse, asynchronous brightness changes which offer high temporal resolution, high dynamic range, low power consumption, and sparse data output. These advantages make them ideal for Space Situational Awareness,…

Recognizing objects in images is a fundamental problem in computer vision. Although detecting objects in 2D images is common, many applications require determining their pose in 3D space. Traditional category-level methods rely on RGB-D…

Autonomous driving systems rely heavily on robust sensor fusion to perceive complex envi- ronments. Traditional setups using RGB cameras and LiDAR often struggle in high-dynamic- range scenes or high-speed scenarios due to motion blur and…

This paper presents a method for determining spacecraft angular rates using event-based camera sensing. This is achieved by analyzing the temporal distribution of brightness events triggered by the apparent motion of stars. The location and…