EVPeriscope: Extended Perception across Aerial and Ground Vehicles with Event-based Propeller Tracking

• URL: http://arxiv.org/abs/2609.11920v1
• Date: Thu, 10 Sep 2026 17:58:03 GMT
• Title: EVPeriscope: Extended Perception across Aerial and Ground Vehicles with Event-based Propeller Tracking
• Abstract summary: This paper presents an event-based perception system that enables detection, localization and control of a quadrotor using an upward-facing event camera on a ground robot.<n>We show that the system supports localization and closed-loop navigation through dense foliage where the ground robot's sensors are occluded.
• Score: 20.43225691472079
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Reliable relative localization between aerial and ground robots is a key requirement for tightly coordinated heterogeneous teams. This can be difficult to do using conventional frame-based cameras and fiducial markers because they are sensitive to motion blur, lighting variations, and payload constraints. This paper presents EVPeriscope, an event-based perception system that enables detection, localization and control of a quadrotor using an upward-facing event camera on a ground robot by detecting the high-frequency visual signature of its propellers. This system allows the quadrotor to function as an extended perception system for the ground robot when onboard sensors exhibit degradation or occlusion. We demonstrate the capabilities of this marsupial ground-aerial system via experiments in challenging field conditions with wind speeds of up to 15 mph, in both daylight and at night. We show that the system supports localization and closed-loop navigation through dense foliage where the ground robot's sensors are occluded. Our control system for the quadrotor operates at 200 Hz entirely with onboard sensing and computation. More details and experiment videos can be found on the project page: https://ongdexter.github.io/evperiscope.

Related papers

• ODD-SEC: Onboard Drone Detection with a Spinning Event Camera [9.195358584956091]
  We introduce a real-time drone detection system designed for deployment on moving carriers.<n>The system utilizes a spinning event-based camera, providing a 360 horizontal field of view and enabling bearing estimation of detected drones.
  arXiv  Detail & Related papers  (2026-03-06T13:30:40Z)
• Visual Cooperative Drone Tracking for Open-Path Gas Measurements [3.448177244538609]
  This publication presents a robotic system for collecting open-path measurements, making use of a sensor mounted on a ground-based pan-tilt unit and a small drone carrying a reflector.<n>By means of a zoom camera, the ground unit visually tracks red LED markers mounted on the drone and aligns the sensor's laser beam with the reflector.<n>Outdoor experiments validated the system's performance, demonstrating successful autonomous tracking and valid CO2 measurements at distances up to 60 meters.
  arXiv  Detail & Related papers  (2026-02-24T11:00:23Z)
• Real-Time Glass Detection and Reprojection using Sensor Fusion Onboard Aerial Robots [9.34137124377529]
  transparent obstacles present significant challenges to reliable navigation and mapping.<n>We propose a novel and computationally efficient framework for detecting and mapping transparent obstacles onboard a sub-300g quadrotor.<n>Our method fuses data from a Time-of-Flight (ToF) camera and an ultrasonic sensor with a custom, lightweight 2D convolution model.<n>The entire pipeline operates in real-time, utilizing only a small fraction of a CPU core on an embedded processor.
  arXiv  Detail & Related papers  (2025-10-07T23:31:45Z)
• Event-Based Visual Teach-and-Repeat via Fast Fourier-Domain Cross-Correlation [52.46888249268445]
  We present the first event-camera-based visual teach-and-repeat system.<n>We develop a frequency-domain cross-correlation framework that transforms the event stream matching problem into computationally efficient space multiplications.<n>Experiments using a Prophesee EVK4 HD event camera mounted on an AgileX Scout Mini robot demonstrate successful autonomous navigation.
  arXiv  Detail & Related papers  (2025-09-21T23:53:31Z)
• Design and Flight Demonstration of a Quadrotor for Urban Mapping and Target Tracking Research [0.04712282770819683]
  This paper describes the hardware design and flight demonstration of a small quadrotor with imaging sensors for urban mapping, hazard avoidance, and target tracking research. The vehicle is equipped with five cameras, including two pairs of fisheye stereo cameras that enable a nearly omnidirectional view and a two-axis gimbaled camera. An onboard NVIDIA Jetson Orin Nano computer running the Robot Operating System software is used for data collection.
  arXiv  Detail & Related papers  (2024-02-20T18:06:00Z)
• Multi-Modal Neural Radiance Field for Monocular Dense SLAM with a Light-Weight ToF Sensor [58.305341034419136]
  We present the first dense SLAM system with a monocular camera and a light-weight ToF sensor. We propose a multi-modal implicit scene representation that supports rendering both the signals from the RGB camera and light-weight ToF sensor. Experiments demonstrate that our system well exploits the signals of light-weight ToF sensors and achieves competitive results.
  arXiv  Detail & Related papers  (2023-08-28T07:56:13Z)
• EV-Catcher: High-Speed Object Catching Using Low-latency Event-based Neural Networks [107.62975594230687]
  We demonstrate an application where event cameras excel: accurately estimating the impact location of fast-moving objects. We introduce a lightweight event representation called Binary Event History Image (BEHI) to encode event data at low latency. We show that the system is capable of achieving a success rate of 81% in catching balls targeted at different locations, with a velocity of up to 13 m/s even on compute-constrained embedded platforms.
  arXiv  Detail & Related papers  (2023-04-14T15:23:28Z)
• Drone Detection and Tracking in Real-Time by Fusion of Different Sensing Modalities [66.4525391417921]
  We design and evaluate a multi-sensor drone detection system. Our solution integrates a fish-eye camera as well to monitor a wider part of the sky and steer the other cameras towards objects of interest. The thermal camera is shown to be a feasible solution as good as the video camera, even if the camera employed here has a lower resolution.
  arXiv  Detail & Related papers  (2022-07-05T10:00:58Z)
• Coupling Vision and Proprioception for Navigation of Legged Robots [65.59559699815512]
  We exploit the complementary strengths of vision and proprioception to achieve point goal navigation in a legged robot. We show superior performance compared to wheeled robot (LoCoBot) baselines. We also show the real-world deployment of our system on a quadruped robot with onboard sensors and compute.
  arXiv  Detail & Related papers  (2021-12-03T18:59:59Z)
• The GRIFFIN Perception Dataset: Bridging the Gap Between Flapping-Wing Flight and Robotic Perception [0.0]
  flapping-wing robot perception suffers from high vibration levels and abrupt movements during flight. This paper presents a perception dataset for bird-scale flapping-wing robots.
  arXiv  Detail & Related papers  (2021-01-25T19:42:13Z)
• Real-Time Drone Detection and Tracking With Visible, Thermal and Acoustic Sensors [66.4525391417921]
  A thermal infrared camera is shown to be a feasible solution to the drone detection task. The detector performance as a function of the sensor-to-target distance is also investigated. A novel video dataset containing 650 annotated infrared and visible videos of drones, birds, airplanes and helicopters is also presented.
  arXiv  Detail & Related papers  (2020-07-14T23:06:42Z)

This list is automatically generated from the titles and abstracts of the papers in this site.

This site does not guarantee the quality of this site (including all information) and is not responsible for any consequences.