Event-based Vision: A Survey - UZH
location, the time t, and the 1-bit polarity pof the change (i.e., brightness increase (“ON”) or decrease (“OFF”)). This event output is illustrated in Figs. 1b, 1e and 1f. The events are transmitted from the pixel array to pe-riphery and then out of the camera using a shared digital output bus, typically by using address-event ...
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IEEE TRANSACTIONS ON ROBOTICS, VOL. 32, NO. 6, …
rpg.ifi.uzh.chAbstract—Simultaneous localization and mapping (SLAM) con-sists in the concurrent construction of a model of the environment ... position paper and tutorial to those who are users of SLAM. By ... LAM comprises the simultaneous estimation of the state of a robot equipped with …
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rpg.ifi.uzh.chVIO algorithms, and there are several open-source software packages available that offer off-the-shelf visual pipelines that can be deployed on an end-user's system of choice. The current research literature offers some comparative results on the performance of the popular VIO algorithms, but these typically consider only a subset of the existing
SVO: Fast Semi-Direct Monocular Visual Odometry - UZH
rpg.ifi.uzh.chInertial Measurement Unit. This setup allowed fully au-tonomous way-point following in outdoor areas [1]–[3] and collaboration between MAVs and ground robots [4], [5]. To our knowledge, all monocular Visual Odometry (VO) systems for MAVs [1], [2], [6], [7] are feature-based. In RGB-D and stereo-based SLAM systems how-
Event-based Vision: A Survey - UZH
rpg.ifi.uzh.chities include real-time interaction systems, such as robotics or wearable electronics [10], where operation under uncon-trolled lighting conditions, latency, and power are impor-tant [11]. Event cameras are used for object tracking [12], [13], surveillance and monitoring [14], and object/gesture recognition [15], [16], [17].
SVO: Fast Semi-Direct Monocular Visual Odometry
rpg.ifi.uzh.challows tracking a patch over a wide range of viewpoints, thus, greatly reducing drift in the estimation. The authors of [19]–[21] reported real-time performance, however, only with few selected planar regions and on small datasets. A VO algorithm for omnidirectional cameras on cars was proposed in [22]. In [8], the local planarity assumption ...
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