17 citations · 44 across the 28 of their papers we have counts for
30 papers
Removing the Compute Bottleneck for Event-based Visual Place Recognition with Spiking Neural Networks
Somayeh Hussaini, Tobias Fischer, Michael Milford
Neuromorphic sensing and computing promise low latency and high energy efficiency for robotics, yet most event-based visual place recognition (VPR) pipelines reintroduce dense, fra…
Image-Space Refraction Correction for Underwater 3D Reconstruction: Warping Flat-Port Views into Pinhole Perspective
Chelim Lim, Tobias Fischer, Emilio Olivastri +3
Consumer-grade cameras in flat-port housings are widely used for underwater exploration and mapping of coral reefs and seafloor habitats due to their low cost and accessibility. Ho…
The EventCV Library for Event-Based Robotic Vision
Adam D. Hines, Michael Milford, Tobias Fischer
Event cameras detect per-pixel brightness changes asynchronously on microsecond timescales, with high dynamic range and low power draw. These are desirable properties for robots th…
Multi-viewpoint Geo-localization with Event Cameras
Adam D. Hines, Michael Milford, Tobias Fischer
Robot localization is an ongoing challenge that demands mapping and positioning systems that are tolerant to viewpoint change. Event cameras are attracting increasing interest and…
DisPlace: Discriminative Place Projections for Multi-Reference Visual Place Recognition
Dhyey Manish Rajani, Michael Milford, Tobias Fischer
A key challenge in Visual Place Recognition (VPR) is matching query images against reference maps captured under diverse environmental conditions and viewpoints. While multiple ref…
EventGeM: Global-to-Local Feature Matching for Event-Based Visual Place Recognition
Adam D. Hines, Gokul B. Nair, Nicolás Marticorena +2
Event cameras are rapidly rising in popularity for robotic and computer vision tasks because their sparse activation delivers energy-efficient, high-dynamic-range, and fast sensing…
Automatic Map Density Selection for Locally-Performant Visual Place Recognition
Somayeh Hussaini, Tobias Fischer, Michael Milford
A key challenge in translating Visual Place Recognition (VPR) from the lab to long-term deployment is ensuring a priori that a system can meet user-specified performance requiremen…
Quantile Transfer for Reliable Operating Point Selection in Visual Place Recognition
Dhyey Manish Rajani, Michael Milford, Tobias Fischer
Visual Place Recognition (VPR) is a key component for localization in Global Navigation Satellite System (GNSS)-denied environments, but its performance critically depends on selec…
Robust Scene Coordinate Regression via Geometrically-Consistent Global Descriptors
Son Tung Nguyen, Alejandro Fontan, Michael Milford +1
Recent learning-based visual localization methods use global descriptors to disambiguate visually similar places, but existing approaches often derive these descriptors from geomet…
Going Places: Place Recognition in Artificial and Natural Systems
Michael Milford, Tobias Fischer
Place recognition, the ability to identify previously visited locations, is critical for both biological navigation and autonomous systems. This review synthesizes findings from ro…
Pixi: Unified Software Development and Distribution for Robotics and AI
Tobias Fischer, Wolf Vollprecht, Bas Zalmstra +8
The reproducibility crisis in scientific computing constrains robotics research. Existing studies reveal that up to 70% of robotics algorithms cannot be reproduced by independent t…
Prepare for Warp Speed: Sub-millisecond Visual Place Recognition Using Event Cameras
Vignesh Ramanathan, Michael Milford, Tobias Fischer
Visual Place Recognition (VPR) enables systems to identify previously visited locations within a map, a fundamental task for autonomous navigation. Prior works have developed VPR s…
Event-Based Visual Teach-and-Repeat via Fast Fourier-Domain Cross-Correlation
Gokul B. Nair, Alejandro Fontan, Michael Milford +1
Visual teach-and-repeat (VT&R) navigation enables robots to autonomously traverse previously demonstrated paths using visual feedback. We present a novel event-camera-based VT&R sy…
Event-LAB: Towards Standardized Evaluation of Neuromorphic Localization Methods
Adam D. Hines, Alejandro Fontan, Michael Milford +1
Event-based localization research and datasets are a rapidly growing area of interest, with a tenfold increase in the cumulative total number of published papers on this topic over…
Ensemble-Based Event Camera Place Recognition Under Varying Illumination
Therese Joseph, Tobias Fischer, Michael Milford
Compared to conventional cameras, event cameras provide a high dynamic range and low latency, offering greater robustness to rapid motion and challenging lighting conditions. Altho…
VSLAM-LAB: A Comprehensive Framework for Visual SLAM Methods and Datasets
Alejandro Fontan, Tobias Fischer, Javier Civera +1
Visual Simultaneous Localization and Mapping (VSLAM) research faces significant challenges due to fragmented toolchains, complex system configurations, and inconsistent evaluation…
Threshold Adaptation in Spiking Networks Enables Shortest Path Finding and Place Disambiguation
Robin Dietrich, Tobias Fischer, Nicolai Waniek +4
Efficient spatial navigation is a hallmark of the mammalian brain, inspiring the development of neuromorphic systems that mimic biological principles. Despite progress, implementin…
Improving Visual Place Recognition with Sequence-Matching Receptiveness Prediction
Somayeh Hussaini, Tobias Fischer, Michael Milford
In visual place recognition (VPR), filtering and sequence-based matching approaches can improve performance by integrating temporal information across image sequences, especially i…
Image-Based Relocalization and Alignment for Long-Term Monitoring of Dynamic Underwater Environments
Beverley Gorry, Tobias Fischer, Michael Milford +1
Effective monitoring of underwater ecosystems is crucial for tracking environmental changes, guiding conservation efforts, and ensuring long-term ecosystem health. However, automat…
Look Ma, No Ground Truth! Ground-Truth-Free Tuning of Structure from Motion and Visual SLAM
Alejandro Fontan, Javier Civera, Tobias Fischer +1
Evaluation is critical to both developing and tuning Structure from Motion (SfM) and Visual SLAM (VSLAM) systems, but is universally reliant on high-quality geometric ground truth…
Exploring Emerging Trends and Research Opportunities in Visual Place Recognition
Antonios Gasteratos, Konstantinos A. Tsintotas, Tobias Fischer +2
Visual-based recognition, e.g., image classification, object detection, etc., is a long-standing challenge in computer vision and robotics communities. Concerning the roboticists,…
Matched Filtering based LiDAR Place Recognition for Urban and Natural Environments
Therese Joseph, Tobias Fischer, Michael Milford
Place recognition is an important task within autonomous navigation, involving the re-identification of previously visited locations from an initial traverse. Unlike visual place r…
ROS2WASM: Bringing the Robot Operating System to the Web
Tobias Fischer, Isabel Paredes, Michael Batchelor +6
The Robot Operating System (ROS) has become the de facto standard middleware in robotics, widely adopted across domains ranging from education to industrial applications. The RoboS…
A compact neuromorphic system for ultra-energy-efficient, on-device robot localization
Adam D. Hines, Michael Milford, Tobias Fischer
Neuromorphic computing offers a transformative pathway to overcome the computational and energy challenges faced in deploying robotic localization and navigation systems at the edg…