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It is well known that visual-inertial state estimation is possible up to a four degrees-of-freedom (DoF) transformation (rotation around gravity and translation), and the extra DoFs (“gauge freedom”) have to be handled properly. While different approaches ...
Lightweight, autonomous drones are soon expected to be used in a wide variety of tasks such as aerial surveillance, delivery, or monitoring of existing architectures. A large body of literature in robotic perception and control exists. Existing methods are ...
Event cameras are bio-inspired vision sensors that output pixel-level brightness changes instead of standard intensity frames. These cameras do not suffer from motion blur and have a very high dynamic range, which enables them to provide reliable visual in ...
Institute of Electrical and Electronics Engineers2018
The extraction and matching of interest points is a prerequisite for many geomet-ric computer vision problems. Traditionally, matching has been achieved by assigningdescriptors to interest points and matching points that have similar descriptors. In this p ...
We present a unifying framework to solve several computer vision problems with event cameras: motion, depth and optical flow estimation. The main idea of our framework is to find the point trajectories on the image plane that are best aligned with the even ...
Flying robots require a combination of accuracy and low latency in their state estimation in order to achieve stable and robust flight. However, due to the power and payload constraints of aerial platforms, state estimation algorithms must provide these qu ...
2018
Event cameras are bioinspired vision sensors that output pixel-level brightness changes instead of standard intensity frames. These cameras do not suffer from motion blur and have a very high dynamic range, which enables them to provide reliable visual inf ...
2018
Civilian drones are soon expected to be used in a wide variety of tasks, such as aerial surveillance, delivery, or monitoring of existing architectures. Nevertheless, their deployment in urban environments has so far been limited. Indeed, in unstructured a ...
Decentralized visual simultaneous localization and mapping (SLAM) is a powerful tool for multi-robot applications in environments where absolute positioning is not available. Being visual, it relies on cheap, lightweight and versatile cameras, and, being d ...
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 challenging motion-estima ...
