arXiv subjects

Zhou Ge

Publications and source records attributed to Zhou Ge.

3 recordsLinked to original sources

arXiv2026

Event-Based Upper-Body Humanoid Teleoperation Under Challenging Illumination

We present a real-time upper-body human-to-humanoid motion imitation framework driven by neuromorphic event-based vision. This work addresses practical perceptual bottlenecks of conventional frame-based RGB sensors, specifically their difficulty in high dynamic range (HDR) scenes and rapid motions due to fixed integration times. By leveraging the Prophesee EVK4 event camera, which operates asynchronously with high temporal resolution and a dynamic range exceeding 120 dB, our system supports stable tracking in conditions where standard vision pipelines degrade, such as severe backlighting and very low light environments below 5 lux. The architecture integrates a low-latency Perception Module, utilizing optimized event accumulation and gravity-aligned inertial fusion, with a causal Motion Module (TWIST) that performs online kinematic retargeting. We validate the system on an embedded NVIDIA Booster T1 platform and an 18-DoF humanoid upper-body setup, demonstrating an end-to-end photon-to-action latency of 23-34 ms and advantages over RGB baselines under our experimental setup. The results indicate a practical trade-off: events can be preferable for fast or poorly lit upper-body teleoperation, whereas well-lit static scenes may favor RGB or hybrid sensing.

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arXiv2026

See Silhouettes in Motion with Neuromorphic Vision

Quasi-bimodal objects, such as text, road signs, and barcodes, play a basic yet vital role in daily visual communication. By boiling these down to clear silhouettes, binarization uses a minimal language to convey essential vision cues for maximum downstream efficiency, especially for tasks that require simple geometric, topological reasoning rather than heavy appearance modeling. The catch is that frame-based imaging often struggles on mobile platforms like drones, self-driving cars, and underwater vehicles, in which rapid motion causes severe motion blur and harsh lighting washes out scene details. To overcome these physical limits, neuromorphic vision via event cameras, featuring microsecond time resolution and high dynamic range, steps in as a natural solution. Building upon this event-driven paradigm, we propose a simple yet effective dual-modal approach that harnesses the synergy between frames and events for training-free, real-time, high-frame-rate binarization on CPU-only devices. Extensive evaluations show that it earns competitive performance against leading techniques in reducing blur artifacts and delivers impressive improvements under challenging illumination at a lower computational cost. Besides, its asynchronous nature bypasses long-standing event-scarcity issues that break traditional time-binning reconstruction at fixed time slots, maintaining clear target shapes even at extreme kilohertz frame rates. Its binary results further serve as reliable representations to facilitate a range of downstream tasks. This work paves the way towards lightweight perception and interaction in embodied intelligence on resource-constrained edge platforms.

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arXiv2023

Neuromorphic Imaging with Joint Image Deblurring and Event Denoising

Neuromorphic imaging reacts to per-pixel brightness changes of a dynamic scene with high temporal precision and responds with asynchronous streaming events as a result. It also often supports a simultaneous output of an intensity image. Nevertheless, the raw events typically involve a large amount of noise due to the high sensitivity of the sensor, while capturing fast-moving objects at low frame rates results in blurry images. These deficiencies significantly degrade human observation and machine processing. Fortunately, the two information sources are inherently complementary -- events with microsecond-level temporal resolution, which are triggered by the edges of objects recorded in a latent sharp image, can supply rich motion details missing from the blurry one. In this work, we bring the two types of data together and introduce a simple yet effective unifying algorithm to jointly reconstruct blur-free images and noise-robust events in an iterative coarse-to-fine fashion. Specifically, an event-regularized prior offers precise high-frequency structures and dynamic features for blind deblurring, while image gradients serve as a kind of faithful supervision in regulating neuromorphic noise removal. Comprehensively evaluated on real and synthetic samples, such a synergy delivers superior reconstruction quality for both images with severe motion blur and raw event streams with a storm of noise, and also exhibits greater robustness to challenging realistic scenarios such as varying levels of illumination, contrast and motion magnitude. Meanwhile, it can be driven by much fewer events and holds a competitive edge at computational time overhead, rendering itself preferable as available computing resources are limited. Our solution gives impetus to the improvement of both sensing data and paves the way for highly accurate neuromorphic reasoning and analysis.

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