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09/07/2023
Equivariant Symmetries for Inertial Navigation Systems
This paper investigates the problem of inertial navigation system (INS) ...
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09/04/2023
High Frequency, High Accuracy Pointing onboard Nanosats using Neuromorphic Event Sensing and Piezoelectric Actuation
As satellites become smaller, the ability to maintain stable pointing de...
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09/03/2023
An Asynchronous Linear Filter Architecture for Hybrid Event-Frame Cameras
Event cameras are ideally suited to capture High Dynamic Range (HDR) vis...
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07/20/2023
Event Blob Tracking: An Asynchronous Real-Time Algorithm
Event-based cameras have become increasingly popular for tracking fast-m...
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04/18/2023
GoferBot: A Visual Guided Human-Robot Collaborative Assembly System
The current transformation towards smart manufacturing has led to a grow...
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09/24/2022
Overcoming Bias: Equivariant Filter Design for Biased Attitude Estimation with Online Calibration
Stochastic filters for on-line state estimation are a core technology fo...
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08/02/2022
Smart Visual Beacons with Asynchronous Optical Communications using Event Cameras
Event cameras are bio-inspired dynamic vision sensors that respond to ch...
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07/11/2022
Exploiting Different Symmetries for Trajectory Tracking Control with Application to Quadrotors
High performance trajectory tracking control of quadrotor vehicles is an...
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05/17/2022
A Linear Comb Filter for Event Flicker Removal
Event cameras are bio-inspired sensors that capture per-pixel asynchrono...
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05/04/2022
EqVIO: An Equivariant Filter for Visual Inertial Odometry
Visual Inertial Odometry (VIO) is the problem of estimating a robot's tr...
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02/04/2022
Equivariant Filter Design for Inertial Navigation Systems with Input Measurement Biases
Inertial Navigation Systems (INS) are a key technology for autonomous ve...
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10/11/2021
Stereo Hybrid Event-Frame (SHEF) Cameras for 3D Perception
Stereo camera systems play an important role in robotics applications to...
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04/13/2021
Inertial Collaborative Localisation for Autonomous Vehicles using a Minimum Energy Filter
Collaborative Localisation has been studied extensively in recent years ...
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04/08/2021
An Equivariant Filter for Visual Inertial Odometry
Visual Inertial Odometry (VIO) is of great interest due the ubiquity of ...
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01/22/2021
Iterative Optimisation with an Innovation CNN for Pose Refinement
Object pose estimation from a single RGB image is a challenging problem ...
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12/17/2020
Event Camera Calibration of Per-pixel Biased Contrast Threshold
Event cameras output asynchronous events to represent intensity changes ...
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12/10/2020
An Asynchronous Kalman Filter for Hybrid Event Cameras
We present an Asynchronous Kalman Filter (AKF) to reconstruct High Dynam...
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09/10/2020
A Minimum Energy Filter for Localisation of an Unmanned Aerial Vehicle
Accurate localisation of unmanned aerial vehicles is vital for the next ...
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08/06/2020
Shonan Rotation Averaging: Global Optimality by Surfing SO(p)^n
Shonan Rotation Averaging is a fast, simple, and elegant rotation averag...
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07/28/2020
Robust Ego and Object 6-DoF Motion Estimation and Tracking
The problem of tracking self-motion as well as motion of objects in the ...
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05/29/2020
An Observer Design for Visual Simultaneous Localisation and Mapping with Output Equivariance
Visual Simultaneous Localisation and Mapping (VSLAM) is a key enabling t...
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05/25/2020
LyRN (Lyapunov Reaching Network): A Real-Time Closed Loop approach from Monocular Vision
We propose a closed-loop, multi-instance control algorithm for visually ...
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05/22/2020
VDO-SLAM: A Visual Dynamic Object-aware SLAM System
The scene rigidity assumption, also known as the static world assumption...
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03/20/2020
How to Train Your Event Camera Neural Network
Event cameras are paradigm-shifting novel sensors that report asynchrono...
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02/20/2020
Dynamic SLAM: The Need For Speed
The static world assumption is standard in most simultaneous localisatio...
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04/24/2019
CED: Color Event Camera Dataset
Event cameras are novel, bio-inspired visual sensors, whose pixels outpu...
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04/04/2019
An Equivariant Observer Design for Visual Localisation and Mapping
This paper builds on recent work on Simultaneous Localisation and Mappin...
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12/02/2018
Computing Spatial Image Convolutions for Event Cameras
Spatial convolution is arguably the most fundamental of 2D image process...
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11/01/2018
Continuous-time Intensity Estimation Using Event Cameras
Event cameras provide asynchronous, data-driven measurements of local te...
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05/10/2018
Simultaneous Localization and Mapping with Dynamic Rigid Objects
Accurate estimation of the environment structure simultaneously with the...
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01/16/2017
3D tracking of water hazards with polarized stereo cameras
Current self-driving car systems operate well in sunny weather but strug...
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06/09/2016