Event Camera-based Visual Odometry for Dynamic Motion Tracking of a Legged Robot Using Adaptive Time Surface

no code implementations • 15 May 2023 • Shifan Zhu, Zhipeng Tang, Michael Yang, Erik Learned-Miller, Donghyun Kim

Our paper proposes a direct sparse visual odometry method that combines event and RGB-D data to estimate the pose of agile-legged robots during dynamic locomotion and acrobatic behaviors.

Pose Estimation Visual Odometry

A Domain-Agnostic Approach for Characterization of Lifelong Learning Systems

no code implementations • 18 Jan 2023 • Megan M. Baker, Alexander New, Mario Aguilar-Simon, Ziad Al-Halah, Sébastien M. R. Arnold, Ese Ben-Iwhiwhu, Andrew P. Brna, Ethan Brooks, Ryan C. Brown, Zachary Daniels, Anurag Daram, Fabien Delattre, Ryan Dellana, Eric Eaton, Haotian Fu, Kristen Grauman, Jesse Hostetler, Shariq Iqbal, Cassandra Kent, Nicholas Ketz, Soheil Kolouri, George Konidaris, Dhireesha Kudithipudi, Erik Learned-Miller, Seungwon Lee, Michael L. Littman, Sandeep Madireddy, Jorge A. Mendez, Eric Q. Nguyen, Christine D. Piatko, Praveen K. Pilly, Aswin Raghavan, Abrar Rahman, Santhosh Kumar Ramakrishnan, Neale Ratzlaff, Andrea Soltoggio, Peter Stone, Indranil Sur, Zhipeng Tang, Saket Tiwari, Kyle Vedder, Felix Wang, Zifan Xu, Angel Yanguas-Gil, Harel Yedidsion, Shangqun Yu, Gautam K. Vallabha

Despite the advancement of machine learning techniques in recent years, state-of-the-art systems lack robustness to "real world" events, where the input distributions and tasks encountered by the deployed systems will not be limited to the original training context, and systems will instead need to adapt to novel distributions and tasks while deployed.