10 accepted papers
Events cameras are ideal sensors for enabling robots to detect and track objects in highly dynamic environments due to their low latency output, high temporal resolution, and high dynamic range. In this paper, we present the Asynchronous Event Multi-Object Tracking (AEMOT) algorithm for detecting an
Range-only Simultaneous Localisation and Mapping (RO-SLAM) is of interest due to its practical applications in ultra-wideband (UWB) and Bluetooth Low Energy (BLE) localisation in terrestrial and aerial applications and acoustic beacon localisation in submarine applications. In this work, we consider
This letter proposes a new approach for Inertial Measurement Unit (IMU) preintegration, a fundamental building block that can be leveraged in different optimization-based Inertial Navigation System (INS) localization solutions. Inspired by recent advances in equivariant theory applied to biased INSs
This letter re-visits the problem of visual-inertial navigation system (VINS) and presents a novel filter design we dub the multi state constraint <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">equivariant</i> filter (MSC <italic xmlns:mml="http://w
Stochastic filters for on-line state estimation are a core technology for autonomous systems. The performance of such filters is one of the key limiting factors to a system's capability. Both asymptotic behavior (e.g., for regular operation) and transient response (e.g., for fast initialization and
Event cameras are bio-inspired dynamic vision sensors that respond to changes in image intensity with a high temporal resolution, high dynamic range and low latency. These sensor characteristics are ideally suited to enable visual target tracking in concert with a broadcast visual communication chan
Spatial convolution is arguably the most fundamental of two-dimensional image processing operations. Conventional spatial image convolution can only be applied to a conventional image, that is, an array of pixel values (or similar image representation) that are associated with a single instant in ti
This letter introduces the “spherepix” data structure for efficient implementation of low-level image processing operations on spherical images. Efficient implementation of low-level image processing depends heavily on separability of the convolution kernels that form the fundamental building blocks
Dense optical flow is a crucial visual cue for obstacle avoidance and motion control for robotic systems functioning in complex unstructured environments. In order to compute image motion for modern highly dynamic robots, it is necessary to use high speed vision systems. To perceive small and thin o
Flight performance of aerial robotic vehicles is critically dependent on the quality of the state estimates provided by onboard sensor systems. The attitude estimation problem has been extensively studied over the last ten years and the development of low complexity, high performance, robust non-lin