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Mapping method of event camera not influenced by speed

An event and camera technology, applied in the field of electronic information, can solve problems such as inability to adapt, influence of image processing algorithms, discontinuous object contours, etc., and achieve the effect of clear edges and constant brightness contrast

Active Publication Date: 2019-11-08
WUHAN UNIV
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Problems solved by technology

However, the parameters of window selection in this method are very important, and cannot adapt to scenes with large speed changes. If the window length is too small relative to the scene speed, the outline of the object will be discontinuous; if the window length is too large relative to the scene speed, there will be The smearing of the contour exists, which will have a bad impact on the subsequent traditional image processing algorithms

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  • Mapping method of event camera not influenced by speed
  • Mapping method of event camera not influenced by speed
  • Mapping method of event camera not influenced by speed

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[0046] The specific implementation manner of the present invention will be further described below in conjunction with the data set event flow.

[0047] Step 1, a series of asynchronous event streams generated by event camera collection, denoted as e i ={t i , x i ,y i ,p i}(i=1, 2, 3, ..., n); In this example, the shapes_rotation part of the data set collected by the Robotics and Perception Group of the University of Zurich using the Dynamic and Active Pixel Vision Sensor (DAVIS) is selected, and the resolution of the sensor is is 240 x 180 pixels.

[0048]Step 2, remember the image generated by this method as T(x, y). At time 0, it is initialized to an all-0 matrix, that is, a 240×180 all-zero matrix.

[0049] Step 3, every time an event comes, suppose the event is e k ={t k , x k ,y k ,p k}, on the image with coordinates (x k ,y k ) as a neighborhood with a size of (2r+1)×(2r+1), where r=3, that is, a 7×7 field, denoted as for the picture point within li...

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Abstract

The invention provides a mapping method of an event camera not influenced by speed. The problem that a traditional image algorithm cannot be applied to an event camera due to the fact that data generated by the event camera are asynchronous event streams rather than traditional image frame streams is solved. The method comprises steps of generating an image frame stream with constant brightness and high contrast from an event stream by a method of keeping the difference between the values of the pixel points on the contour and the values of the surrounding pixel points in the image constant; updating the speed-invariant image once every event arrives, setting the brightness of the event position on the image as a maximum constant value, reducing the brightness values of surrounding field points, keeping the edge contrast constant, and removing the trailing effect by using a high-pass filter. The image generated by the method is clear in edge and constant in brightness contrast, and subsequent image processing is facilitated.

Description

technical field [0001] The invention relates to the technical field of electronic information, in particular to a method for forming an image of an event camera. Background technique [0002] With the development of science and technology, computer vision technology is becoming more and more mature. Due to the richness of information in images and the portability of visible light cameras, visible light cameras have naturally become the hardware of choice in various computer vision applications, making pictures the data processed in various computer vision applications. One of the most important milestones in computer vision perception has been the demonstration of the ability of a single moving camera to estimate egocenter and scene in real time—often referred to as Simultaneous Localization And Mapping (SLAM). In the past 30 years, there has been tremendous development in the field of SLAM, making large-scale application possible. The SLAM application of mobile robots is ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06T11/00G06T5/00
CPCG06T11/001G06T5/70
Inventor 余磊王碧杉杨文陈欣宇杨公宇叶琪霖周立凤
Owner WUHAN UNIV
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