Publications by authors named "Chahat Deep Singh"
The rapidly increasing capabilities of autonomous mobile robots promise to make them ubiquitous in the coming decade. These robots will continue to enhance efficiency and safety in novel applications such as disaster management, environmental monitoring, bridge inspection, and agricultural inspection. To operate autonomously without constant human intervention, even in remote or hazardous areas, robots must sense, process, and interpret environmental data using only onboard sensing and computation.
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- Neuromorphic vision sensors, or event cameras, enable ultra-fast visual perception but struggle with capturing edges parallel to motion due to intrinsic limitations.
- Inspired by human microsaccades—tiny involuntary eye movements—the authors designed a system called the artificial microsaccade-enhanced event camera (AMI-EV) that incorporates a rotating wedge prism to improve texture stability.
- Testing shows that AMI-EV significantly outperforms standard and other event cameras in real-world scenarios, enhancing robotics' ability to perceive both low-level and high-level visual tasks.
Robots are active agents that operate in dynamic scenarios with noisy sensors. Predictions based on these noisy sensor measurements often lead to errors and can be unreliable. To this end, roboticists have used fusion methods using multiple observations.
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