6 papers
DENALI: A Dataset Enabling Non-Line-of-Sight Spatial Reasoning with Low-Cost LiDARs
Nikhil Behari, Diego Rivero, Luke Apostolides +3
Consumer LiDARs in mobile devices and robots typically output a single depth value per pixel. Yet internally, they record full time-resolved histograms containing direct and multi-…
DERD-Net: Learning Depth from Event-based Ray Densities
Diego Hitzges, Suman Ghosh, Guillermo Gallego
Event cameras offer a promising avenue for multi-view stereo depth estimation and Simultaneous Localization And Mapping (SLAM) due to their ability to detect blur-free 3D edges at…
Event-based Stereo Depth Estimation: A Survey
Suman Ghosh, Guillermo Gallego
Stereopsis has widespread appeal in robotics as it is the predominant way by which living beings perceive depth to navigate our 3D world. Event cameras are novel bio-inspired senso…
Combined Physics and Event Camera Simulator for Slip Detection
Thilo Reinold, Suman Ghosh, Guillermo Gallego
Robot manipulation is a common task in fields like industrial manufacturing. Detecting when objects slip from a robot's grasp is crucial for safe and reliable operation. Event came…
Fourier-based Action Recognition for Wildlife Behavior Quantification with Event Cameras
Friedhelm Hamann, Suman Ghosh, Ignacio Juarez Martinez +3
Event cameras are novel bio-inspired vision sensors that measure pixel-wise brightness changes asynchronously instead of images at a given frame rate. They offer promising advantag…
ES-PTAM: Event-based Stereo Parallel Tracking and Mapping
Suman Ghosh, Valentina Cavinato, Guillermo Gallego
Visual Odometry (VO) and SLAM are fundamental components for spatial perception in mobile robots. Despite enormous progress in the field, current VO/SLAM systems are limited by the…