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A Corner Detection Method Based on Dynamic Vision Sensor

A visual sensor and corner detection technology, applied in instrumentation, image analysis, calculation, etc., can solve the problems that corner detection methods cannot be directly applied, and achieve fast and accurate detection, low computing resources, and reduced data volume.

Active Publication Date: 2020-11-27
TONGJI UNIV
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Problems solved by technology

Unlike the frame images output by traditional cameras, dynamic vision sensors output discrete event streams, and traditional corner detection methods cannot be directly applied

Method used

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  • A Corner Detection Method Based on Dynamic Vision Sensor
  • A Corner Detection Method Based on Dynamic Vision Sensor
  • A Corner Detection Method Based on Dynamic Vision Sensor

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Embodiment

[0036] Such as figure 1 As shown, the present invention provides a corner detection algorithm based on a dynamic visual sensor, which can perform corner detection on real-time incoming event streams, and can ensure the accuracy and high efficiency of its detection, with less computing resources used , which increases its applicability. The corner detection algorithm based on the dynamic visual sensor includes the following steps:

[0037] 1) For each new incoming event of dynamic visual sensor data, use it as the center of the circle to construct a corner detection template, such as figure 2 shown;

[0038] (2) According to the polarity and time stamp of the event at the center of the circle, count the number of corresponding events in the template;

[0039] (3) According to the number of events counted in step (2), determine whether the center of the circle is an initial corner point;

[0040] (4) Perform non-maximum suppression on the determined initial corner points to...

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Abstract

Disclosed is a corner detection method based on a dynamic vision sensor. The method comprises the following steps: 1) constructing a corner detection template for each newly incoming event in dynamic vision sensor data by taking same as the center of a circle; 2) counting the number of corresponding events in the template according to the polarity and timestamp of the event at the center of the circle; 3) determining, according to the counted number of corresponding events, whether the center of the circle is an initial corner; and 4) carrying out non-maximum suppression on the determined initial corner to obtain a final corner. Compared with the prior art, the method has the advantages of being quick, accurate, etc.

Description

technical field [0001] The invention relates to the technical field of image feature detection, in particular to a corner detection method based on a dynamic visual sensor. Background technique [0002] Dynamic vision sensors output a stream of events by detecting changes in the logarithmic intensity of an image, where each event has location, polarity, and timestamp information. Compared with traditional cameras, it has the advantages of low latency, high temporal resolution, and large dynamic range. [0003] In the field of traditional image processing technology, corner points have been widely used in functions such as visual ranging and object tracking because of their advantages such as good positioning, high information content, and not being affected by aperture problems. As a practical feature, corner points have also attracted much attention for their application in dynamic vision sensors. Unlike the frame images output by traditional cameras, dynamic vision senso...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G06T7/13G06T7/66
CPCG06T7/13G06T7/66
Inventor 陈广刘佩根沈律宇宁翔宇唐笠轩
Owner TONGJI UNIV