Trabajo presentado en la 31st British Machine Vision Conference, celebrada online del 7 al 10 de septiembre de 2020 ; Event cameras are bioinspired sensors with reaction times in the order of microseconds. This property makes them appealing for use in highly-dynamic computer vision applications. In this work, we explore the limits of this sensing technology and present an ultra-fast tracking algorithm able to estimate six-degree-of-freedom motion with dynamics over 25.8g, at a throughput of 10kHz, processing over a million events per second. Our method is capable of tracking either camera motion or the motion of an object in front of it, using an error-state Kalman filter formulated in a Lie-theoretic sense. The method includes a robust mechanism for the matching of events with projected line segments with very fast outlier rejection. Meticulous treatment of sparse matrices is applied to achieve real-time performance. Different motion models of varying complexity are considered for the sake of comparison and performance analysis. ; This work was partially supported by the EU H2020 project GAUSS (H2020-Galileo-2017- 1-776293), by the Spanish State Research Agency through projects EB-SLAM (DPI2017- 89564-P) and the María de Maeztu Seal of Excellence to IRI (MDM-2016-0656, and by a scholarship from SENESCYT, Republic of Ecuador to William Chamorro.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    High-speed event camera tracking



    Erscheinungsdatum :

    2020-09-07


    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



    Event-based, 6-DOF pose tracking for high-speed maneuvers

    Müggler, Elias / Huber, Basil / Scaramuzza, Davide | BASE | 2014

    Freier Zugriff

    High speed camera for photographic tracking of artificial earth satellites

    Guentzel-Lingner, U. | Engineering Index Backfile | 1959


    A Multi-Cluster Tracking Algorithm with an Event Camera

    Aladem, Mohamed / Rawashdeh, Samir A. | IEEE | 2019


    Event-Assisted Object Tracking on High-Speed Drones in Harsh Illumination Environment

    Yuqi Han / Xiaohang Yu / Heng Luan et al. | DOAJ | 2024

    Freier Zugriff

    Event camera hardware

    BARTHA LORANT / ZAHARIA CORNELIU / GEORGESCU VLAD et al. | Europäisches Patentamt | 2022

    Freier Zugriff