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Lifetime estimation of events from dynamic vision sensors


Müggler, Elias; Forster, Christian; Baumli, Nathan; Gallego Bonet, Guillermo; Scaramuzza, Davide (2015). Lifetime estimation of events from dynamic vision sensors. In: IEEE International Conference on Robotics and Automation (ICRA), Seattle WA, 26 May 2015 - 30 May 2015.

Abstract

We propose an algorithm to estimate the “lifetime” of events from retinal cameras, such as a Dynamic Vision Sensor (DVS). Unlike standard CMOS cameras, a DVS only transmits pixel-level brightness changes (“events”) at the time they occur with micro-second resolution. Due to its low latency and sparse output, this sensor is very promising for highspeed mobile robotic applications. We develop an algorithm that augments each event with its lifetime, which is computed from the event’s velocity on the image plane. The generated stream of augmented events gives a continuous representation of events in time, hence enabling the design of new algorithms that outperform those based on the accumulation of events over fixed, artificially-chosen time intervals. A direct application of this augmented stream is the construction of sharp gradient (edge-like) images at any time instant. We successfully demonstrate our method in different scenarios, including highspeed quadrotor flips, and compare it to standard visualization methods.

Abstract

We propose an algorithm to estimate the “lifetime” of events from retinal cameras, such as a Dynamic Vision Sensor (DVS). Unlike standard CMOS cameras, a DVS only transmits pixel-level brightness changes (“events”) at the time they occur with micro-second resolution. Due to its low latency and sparse output, this sensor is very promising for highspeed mobile robotic applications. We develop an algorithm that augments each event with its lifetime, which is computed from the event’s velocity on the image plane. The generated stream of augmented events gives a continuous representation of events in time, hence enabling the design of new algorithms that outperform those based on the accumulation of events over fixed, artificially-chosen time intervals. A direct application of this augmented stream is the construction of sharp gradient (edge-like) images at any time instant. We successfully demonstrate our method in different scenarios, including highspeed quadrotor flips, and compare it to standard visualization methods.

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Additional indexing

Item Type:Conference or Workshop Item (Paper), refereed, original work
Communities & Collections:03 Faculty of Economics > Department of Informatics
Dewey Decimal Classification:000 Computer science, knowledge & systems
Language:English
Event End Date:30 May 2015
Deposited On:12 Jun 2015 07:21
Last Modified:31 Aug 2017 06:38
Publisher:Institute of Electrical and Electronics Engineers (IEEE)
Official URL:http://rpg.ifi.uzh.ch/docs/ICRA15_Mueggler.pdf
Related URLs:http://ieeexplore.ieee.org/xpl/conhome.jsp?punumber=1000639 (Organisation)
Other Identification Number:merlin-id:12059

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