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Low-latency event-based visual odometry


Censi, Andrea; Scaramuzza, Davide (2014). Low-latency event-based visual odometry. In: IEEE International Conference on Robotics and Automation (ICRA), Hong Kong, 31 May 2014 - 7 June 2014, 703-710.

Abstract

The agility of a robotic system is ultimately limited by the speed of its processing pipeline. The use of a Dynamic Vision Sensors (DVS), a sensor producing asynchronous events as luminance changes are perceived by its pixels, makes it possible to have a sensing pipeline of a theoretical latency of a few microseconds. However, several challenges must be overcome: a DVS does not provide the grayscale value but only changes in the luminance; and because the output is composed by a sequence of events, traditional frame-based visual odometry methods are not applicable. This paper presents the first visual odometry system based on a DVS plus a normal CMOS camera to provide the absolute brightness values. The two sources of data are automatically spatiotemporally calibrated from logs taken during normal operation. We design a visual odometry method that uses the DVS events to estimate the relative displacement since the previous CMOS frame by processing each event individually. Experiments show that the rotation can be estimated with surprising accuracy, while the translation can be estimated only very noisily, because it produces few events due to very small apparent motion.

Abstract

The agility of a robotic system is ultimately limited by the speed of its processing pipeline. The use of a Dynamic Vision Sensors (DVS), a sensor producing asynchronous events as luminance changes are perceived by its pixels, makes it possible to have a sensing pipeline of a theoretical latency of a few microseconds. However, several challenges must be overcome: a DVS does not provide the grayscale value but only changes in the luminance; and because the output is composed by a sequence of events, traditional frame-based visual odometry methods are not applicable. This paper presents the first visual odometry system based on a DVS plus a normal CMOS camera to provide the absolute brightness values. The two sources of data are automatically spatiotemporally calibrated from logs taken during normal operation. We design a visual odometry method that uses the DVS events to estimate the relative displacement since the previous CMOS frame by processing each event individually. Experiments show that the rotation can be estimated with surprising accuracy, while the translation can be estimated only very noisily, because it produces few events due to very small apparent motion.

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4 citations in Web of Science®
14 citations in Scopus®
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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:7 June 2014
Deposited On:12 Aug 2016 07:29
Last Modified:10 Sep 2017 01:21
Publisher:Institute of Electrical and Electronics Engineers
Series Name:IEEE International Conference on Robotics and Automation. Proceedings
ISSN:1050-4729
Publisher DOI:https://doi.org/10.1109/ICRA.2014.6906931
Related URLs:http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6906931&isnumber=6906581 (Publisher)
http://www.icra2014.com/ (Organisation)
Other Identification Number:merlin-id:10213

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