6 research outputs found
Towards Low-Latency High-Bandwidth Control of Quadrotors using Event Cameras
Event cameras are a promising candidate to enable high speed vision-based
control due to their low sensor latency and high temporal resolution. However,
purely event-based feedback has yet to be used in the control of drones. In
this work, a first step towards implementing low-latency high-bandwidth control
of quadrotors using event cameras is taken. In particular, this paper addresses
the problem of one-dimensional attitude tracking using a dualcopter platform
equipped with an event camera. The event-based state estimation consists of a
modified Hough transform algorithm combined with a Kalman filter that outputs
the roll angle and angular velocity of the dualcopter relative to a horizon
marked by a black-and-white disk. The estimated state is processed by a
proportional-derivative attitude control law that computes the rotor thrusts
required to track the desired attitude. The proposed attitude tracking scheme
shows promising results of event-camera-driven closed loop control: the state
estimator performs with an update rate of 1 kHz and a latency determined to be
12 ms, enabling attitude tracking at speeds of over 1600 deg/s
EvDNeRF: Reconstructing Event Data with Dynamic Neural Radiance Fields
We present EvDNeRF, a pipeline for generating event data and training an
event-based dynamic NeRF, for the purpose of faithfully reconstructing
eventstreams on scenes with rigid and non-rigid deformations that may be too
fast to capture with a standard camera. Event cameras register asynchronous
per-pixel brightness changes at MHz rates with high dynamic range, making them
ideal for observing fast motion with almost no motion blur. Neural radiance
fields (NeRFs) offer visual-quality geometric-based learnable rendering, but
prior work with events has only considered reconstruction of static scenes. Our
EvDNeRF can predict eventstreams of dynamic scenes from a static or moving
viewpoint between any desired timestamps, thereby allowing it to be used as an
event-based simulator for a given scene. We show that by training on varied
batch sizes of events, we can improve test-time predictions of events at fine
time resolutions, outperforming baselines that pair standard dynamic NeRFs with
event generators. We release our simulated and real datasets, as well as code
for multi-view event-based data generation and the training and evaluation of
EvDNeRF models (https://github.com/anish-bhattacharya/EvDNeRF).Comment: 16 pages, 20 figures, 2 table
Towards Low-Latency High-Bandwidth Control of Quadrotors using Event Cameras
Event cameras are a promising candidate to enable high speed vision-based control due to their low sensor latency and high temporal resolution. However, purely event-based feedback has yet to be used in the control of drones. In this work, a first step towards implementing low-latency high-bandwidth control of quadrotors using event cameras is taken. In particular, this paper addresses the problem of one-dimensional attitude tracking using a dualcopter platform equipped with an event camera. The event-based state estimation consists of a modified Hough transform algorithm combined with a Kalman filter that outputs the roll angle and angular velocity of the dualcopter relative to a horizon marked by a black-and-white disk. The estimated state is processed by a proportional-derivative attitude control law that computes the rotor thrusts required to track the desired attitude. The proposed attitude tracking scheme shows promising results of event-camera-driven closed loop control: the state estimator performs with an update rate of 1 kHz and a latency determined to be 12 ms, enabling attitude tracking at speeds of over 1600°/s