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Control design for robotic systems is complex and often requires solving an optimization to follow a trajectory accurately. Online optimization approaches like Model Predictive Control (MPC) have been shown to achieve great tracking performance, but requir ...
We present EKLT, a feature tracking method that leverages the complementarity of event cameras and standard cameras to track visual features with high temporal resolution. Event cameras are novel sensors that output pixel-level brightness changes, called “ ...
Does gravity affect decision-making? This question comes into sharp focus as plans for interplanetary human space missions solidify. In the framework of Bayesian brain theories, gravity encapsulates a strong prior, anchoring agents to a reference frame via ...
Purpose In spinal fusion surgery, imprecise placement of pedicle screws can result in poor surgical outcome or may seriously harm a patient. Patient-specific instruments and optical systems have been proposed for improving precision through surgical naviga ...
Despite impressive results in visual-inertial state estimation in recent years, high speed trajectories with six degree of freedom motion remain challenging for existing estimation algorithms. Aggressive trajectories feature large accelerations and rapid r ...
In this tutorial, we provide principled methods to quantitatively evaluate the quality of an estimated trajectory from visual(-inertial) odometry (VO/VIO), which is the foundation of benchmarking the accuracy of different algorithms. First, we show how to ...
In contrast to traditional cameras, whose pixels have a common exposure time, event-based cameras are novel bio-inspired sensors whose pixels work independently and asynchronously output intensity changes (called "events"), with microsecond resolution. Sin ...
Event cameras are novel bio-inspired vision sensors that output pixel-level intensity changes, called “events”, instead of traditional video images. These asynchronous sensors naturally respond to motion in the scene with very low latency (in the order of ...
In recent years, many approaches to visual-inertial odometry (VIO) have become available. However, they neither exploit the robot's dynamics and known actuation inputs, nor differentiate between the desired motion due to actuation and the unwanted perturba ...
Event cameras are novel vision sensors that output pixel-level brightness changes (“events”) instead of traditional video frames. These asynchronous sensors offer several advantages over traditional cameras, such as, high temporal resolution, very high dyn ...