Event camera denoising method based on space-time density

An event and camera technology, applied in the field of image sensors, can solve the problems of complex calculation process, fixed parameter spatio-temporal correlation filter can not remove the initial part of the noise, etc., to achieve the effect of strong spatio-temporal correlation and high density

Active Publication Date: 2022-08-09
INST OF OPTICS & ELECTRONICS - CHINESE ACAD OF SCI
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Problems solved by technology

[0005] The purpose of the present invention is to provide an event camera denoising method based on spatio-temporal density, which solves the problems of complex calculation process, fixed parameters and the inability of spatio-temporal correlation filter to remove the initial part of the noise in the existing denoising method

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Embodiment Construction

[0044] The present invention will be further described in detail below with reference to specific embodiments.

[0045] An event camera denoising method based on spatiotemporal density of the present invention, the specific flow chart is as follows figure 1 shown, is implemented by the following steps:

[0046] Step (1), simulate and generate an event stream according to the imaging principle of the event camera, such as image 3 shown;

[0047] Step (2), calculating the time neighborhood Δt of the event; the specific process of the step (2) is:

[0048] 2a. Calculate the average number of events per pixel, set the number of events in the event stream to 5000, and the resolution of the event camera to 1024×1024:

[0049]

[0050]Among them, AE represents the average number of events per pixel; NE represents the number of events in an event stream; X and Y represent the horizontal and vertical pixel numbers of the photosensitive detector of the event camera, respectively;...

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Abstract

The invention discloses an event camera denoising method based on space-time density. The event camera denoising method comprises the following steps: (1) acquiring an original event stream; (2) the event streams are grouped according to the fixed number of events, and a time neighborhood threshold value is calculated; (3) judging whether the newly arrived event is noise or not according to the time-space characteristics of the arrived event; and (4) establishing a density matrix to remove noise of the initial part of the event stream. According to the method, by utilizing the characteristics of strong space-time correlation and large density between effective events and weak space-time correlation and small density between noise events, the newly arrived events are filtered one by one to complete noise reduction of the event stream, meanwhile, the time resolution of the events is better reserved, and the problems that an existing event stream noise reduction method is complex in calculation and high in noise reduction efficiency are solved. And the noise reduction effects in different scenes are not uniform due to large calculation amount or fixed parameters.

Description

technical field [0001] The invention relates to the field of image sensors, in particular to an event camera denoising method based on spatiotemporal density. Background technique [0002] Event cameras are a new type of vision sensor that, unlike conventional cameras, have pixels that detect changes in light intensity. When the brightness of a pixel changes beyond a certain threshold, the pixel will output its coordinates on the image plane, the time of the change, and the polarity of the change. These changes become events, and each event consists of four elements: the pixel row coordinates at which the event occurred, the pixel column coordinates, the moment at which the event occurred, and a polarity indicating the light intensity brightened or dimmed. It can be seen from the working principle of the event camera that it breaks through some limitations of traditional cameras, the information acquisition speed is not affected by exposure time and frame rate, and the pixe...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H04N5/217H04N5/357
CPCH04N23/81H04N25/60Y02A90/10
Inventor 赵汝进曾思康马跃博颜坤朱自发易晋辉唐雨萍朱梓建
Owner INST OF OPTICS & ELECTRONICS - CHINESE ACAD OF SCI
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