Optical flow acquisition method of pulse type image sensor based on detector
An image sensor and acquisition method technology, applied in image analysis, image communication, image data processing and other directions, can solve problems such as wasting time and computing resources
Active Publication Date: 2021-02-23
TIANJIN UNIV MARINE TECH RES INST
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These redundant data need to be deleted during the capture process, thus wasting time and computing resources
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[0019] The technical solutions in the present invention will be further clearly and completely described below in conjunction with the accompanying drawings in the present invention.
[0020] A detector-based optical flow acquisition method for pulsed image sensors, such as figure 1 As shown, it consists of two mirror-symmetrical subunits. In each subunit, two adjacent intervals are used to measure the light intensity, and one interval is delayed by a low-pass filter, which can be regarded as the difference between the two intervals at different times. relationship, the output is the differential signal of the two subunit multipliers.
[0021] f(x,y,t) is the light intensity at position (x,y) at time t, Δx , Δy is the compensation amount of the adjacent unit, Δt is the time delay, the output of the Reichardt detector is:
[0022]
[0023] in x’ = x + Δx , y’ = y + Δy , t = t + Δt ;if| RD(f, x, y, t, t') |Threshold exceeded T RD , indicating that th...
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The invention discloses an optical flow obtaining method of a pulse type image sensor based on a detector, is composed of two sub-units in mirror symmetry, in each sub-unit, two adjacent intervals areused for measuring the light intensity, one interval is delayed by a low-pass filter and can be regarded as the relation of the two intervals at different time, and the other interval is regarded asthe relation of the two intervals at different time; differential signals of the two subunit multipliers are output; during calculation, data formats need to be unified firstly, each event needs to record time t, a position (x,y) and whether polarity is positive (+) or negative (+), and a threshold value T is set and adjusted according to an effect; according to the method, pulse sensor signals are processed into DVS sparse data and can be used for judging the motion direction of an object according to the principle similar to the Reichardt detector principle, and then optical flow is obtained; and the method has advantages of less computing resource occupation, lower power consumption and shorter time consumption, and can implement real-time computing of the optical flow.
Description
technical field [0001] The invention belongs to the field of image processing algorithms, and in particular relates to an optical flow algorithm used for motion detection of a pulsed image sensor, that is, a detector-based optical flow acquisition method of a pulsed image sensor. Background technique [0002] Motion detection is a common task in the fields of video processing and computer vision, and optical flow computation is one way to achieve motion detection. In applications such as self-driving cars and robot navigation, detection algorithms must be done in real-time due to device limitations on power consumption and computing power. [0003] Optical flow is used to represent the motion pattern that appears in the scene. It is usually expressed as a vector field at each time step, and each pixel is marked with a vector representing the direction and speed of motion. Existing optical flow calculation methods are obtained from traditional frame-based cameras. Generally...
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IPC IPC(8): H04N5/225G06T7/269
CPCG06T7/269H04N23/54
Inventor 徐江涛张培文高静聂凯明杨喆
Owner TIANJIN UNIV MARINE TECH RES INST