Publication: Low-latency event-based visual odometry
Low-latency event-based visual odometry
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Censi, A., & Scaramuzza, D. (2014). Low-latency event-based visual odometry. Proceedings of the IEEE International Conference on Robotics and Automation, 703–710. https://doi.org/10.1109/ICRA.2014.6906931
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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 odome
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- Censi, Andrea
- Scaramuzza, Davide
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Censi, A., & Scaramuzza, D. (2014). Low-latency event-based visual odometry. Proceedings of the IEEE International Conference on Robotics and Automation, 703–710. https://doi.org/10.1109/ICRA.2014.6906931
