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Accurate angular velocity estimation with an event camera


Gallego Bonet, Guillermo; Scaramuzza, Davide (2017). Accurate angular velocity estimation with an event camera. IEEE Robotics and Automation Letters, 2(2):632-639.

Abstract

We present an algorithm to estimate the rotational motion of an event camera. In contrast to traditional cameras, which produce images at a fixed rate, event cameras have independent pixels that respond asynchronously to brightness changes, with microsecond resolution. Our method leverages the type of information conveyed by these novel sensors (i.e., edges) to directly estimate the angular velocity of the camera, without requiring optical flow or image intensity estimation. The core of the method is a contrast maximization design. The method performs favorably against ground truth data and gyroscopic measurements from an Inertial Measurement Unit, even in the presence of very high-speed motions (close to 1000 deg/s).

Abstract

We present an algorithm to estimate the rotational motion of an event camera. In contrast to traditional cameras, which produce images at a fixed rate, event cameras have independent pixels that respond asynchronously to brightness changes, with microsecond resolution. Our method leverages the type of information conveyed by these novel sensors (i.e., edges) to directly estimate the angular velocity of the camera, without requiring optical flow or image intensity estimation. The core of the method is a contrast maximization design. The method performs favorably against ground truth data and gyroscopic measurements from an Inertial Measurement Unit, even in the presence of very high-speed motions (close to 1000 deg/s).

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Additional indexing

Item Type:Journal Article, refereed, original work
Communities & Collections:03 Faculty of Economics > Department of Informatics
Dewey Decimal Classification:000 Computer science, knowledge & systems
Language:English
Date:1 April 2017
Deposited On:22 Aug 2017 09:48
Last Modified:23 Aug 2017 10:45
Publisher:Institute of Electrical and Electronics Engineers
ISSN:2377-3766
Additional Information:© 2017 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Free access at:Publisher DOI. An embargo period may apply.
Publisher DOI:https://doi.org/10.1109/lra.2016.2647639
Official URL:http://rpg.ifi.uzh.ch/docs/RAL16_Gallego.pdf
Other Identification Number:merlin-id:15097

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