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Feature detection and tracking with the dynamic and active-pixel vision sensor (DAVIS)


Tedaldi, David; Gallego Bonet, Guillermo; Müggler, Elias; Scaramuzza, Davide (2016). Feature detection and tracking with the dynamic and active-pixel vision sensor (DAVIS). In: International Conference on Event-Based Control, Communication and Signal Processing (EBCCSP), Krakow, Poland, 13 June 2016 - 15 June 2016.

Abstract

Because standard cameras sample the scene at constant time intervals, they do not provide any information in the blind time between subsequent frames. However, for many high-speed robotic and vision applications, it is crucial to provide high-frequency measurement updates also during this blind time. This can be achieved using a novel vision sensor, called DAVIS, which combines a standard camera and an asynchronous event-based sensor in the same pixel array. The DAVIS encodes the visual content between two subsequent frames by an asynchronous stream of events that convey pixel-level brightness changes at microsecond resolution. We present the first algorithm to detect and track visual features using both the frames and the event data provided by the DAVIS. Features are first detected in the grayscale frames and then tracked asynchronously in the blind time between frames using the stream of events. To best take into account the hybrid characteristics of the DAVIS, features are built based on large, spatial contrast variations (i.e., visual edges), which are the source of most of the events generated by the sensor. An event-based algorithm is further presented to track the features using an iterative, geometric registration approach. The performance of the proposed method is evaluated on real data acquired by the DAVIS.

Abstract

Because standard cameras sample the scene at constant time intervals, they do not provide any information in the blind time between subsequent frames. However, for many high-speed robotic and vision applications, it is crucial to provide high-frequency measurement updates also during this blind time. This can be achieved using a novel vision sensor, called DAVIS, which combines a standard camera and an asynchronous event-based sensor in the same pixel array. The DAVIS encodes the visual content between two subsequent frames by an asynchronous stream of events that convey pixel-level brightness changes at microsecond resolution. We present the first algorithm to detect and track visual features using both the frames and the event data provided by the DAVIS. Features are first detected in the grayscale frames and then tracked asynchronously in the blind time between frames using the stream of events. To best take into account the hybrid characteristics of the DAVIS, features are built based on large, spatial contrast variations (i.e., visual edges), which are the source of most of the events generated by the sensor. An event-based algorithm is further presented to track the features using an iterative, geometric registration approach. The performance of the proposed method is evaluated on real data acquired by the DAVIS.

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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:15 June 2016
Deposited On:16 Aug 2016 11:48
Last Modified:08 Dec 2017 20:09
Publisher DOI:https://doi.org/10.1109/EBCCSP.2016.7605086
Related URLs:http://home.agh.edu.pl/~ebccsp16/program/ (Organisation)
Other Identification Number:merlin-id:13506

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