Bionic event imaging system and method

Abstract

The present invention relates to the technical fields of optical imaging and computer vision, and provides a bionic event imaging system and method. The system comprises: a lens or lens group used for converging light of an external environment; a controllable blinking module comprising a photomask and a control unit used for a closing / opening operation of the photomask, wherein the controllable blinking module is used for controlling to block or allow the incidence of the light of the external environment; a dynamic vision sensor used for measuring the brightness variation of an optical signal incident by the controllable blinking module, and triggering an event when the brightness variation exceeds a preset threshold, wherein the photomask correspondingly covers all or some of optical detection units in the dynamic vision sensor, and the event comprises coordinate information of a triggered pixel, time information and polarity information of the event; and an event processing unit used for performing solution according to an event flow generated by the dynamic vision sensor, and reconstructing and generating absolute light intensity images of a static scene and a dynamic scene in the external environment.

Description

Bionic event imaging system and method Technical Field

[0001] The present invention relates to the technical field of optical imaging and computer vision, and more particularly to a bionic event imaging system and method. Background Art

[0002] Biological vision systems are driven by events occurring in the field of view. A dynamic vision sensor (DVS), also known as an event camera, is an array-based asynchronous spatiotemporal sensor based on retinal neuromorphic technology, inspired by biological vision systems. Each pixel in the DVS is an independent dynamic vision sensing unit that asynchronously measures brightness changes at each pixel. When the brightness change exceeds a certain threshold, an event is triggered. Each event includes a timestamp encoding the brightness change, the pixel location, and the event polarity. Therefore, event cameras offer advantages over standard frame-based cameras, such as high dynamic range, low latency, and low power consumption. They can deliver more efficient performance in scenes that are challenging for traditional frame-based cameras. According to the operating principle of a DVS, events are typically triggered by changes in illumination or motion in the scene. However, for static backgrounds or purely static scenes within a dynamic scene, the DVS will not trigger an event due to the lack of corresponding brightness changes, resulting in a loss of background information or an inability to perceive the static scene. In some application scenarios, the event stream output by the event camera alone can solve related problems. However, in many advanced vision tasks, the absolute light intensity information of the scene is often required. However, the DVS event camera alone cannot output the absolute light intensity image of the scene.

[0003] To enable event cameras to perceive the entire scene, some proposals have been made to add a traditional active pixel sensor (APS) to the camera's internal circuitry, thereby outputting an image of the scene's absolute light intensity at a constant frame rate. However, adding an APS module increases the camera's pixel size, thereby increasing the camera chip area, making inefficient use of the chip's photosensitive area. Furthermore, when the APS and DVS sensors operate simultaneously, frame image transmission requires a greater bandwidth than event stream transmission, increasing the camera's latency. Furthermore, because all APS sensors within the camera must operate simultaneously to capture each frame, the camera's power consumption is significantly increased, hindering its long-term operation. Another approach has been to add an active light source external to the event camera, triggering events across the entire scene by flickering the light source. However, this approach requires an external active light source, which consumes significant power. Furthermore, when operating outdoors, especially in bright sunlight, conventional active light sources rarely cause brightness changes in the scene, making it impossible to trigger scene events.

[0004] Summary of the Invention

[0005] In order to overcome the defects of low efficiency and high power consumption of the event camera described in the above-mentioned prior art when used to perceive the entire scene information, the present invention provides a bionic event imaging system and method.

[0006] In order to solve the above technical problems, the technical solutions of the present invention are as follows:

[0007] A bionic event imaging system, comprising:

[0008] A lens or lens group is used to focus light from the external environment;

[0009] A controllable blinking module, comprising a light mask and a control unit for closing and / or opening the light mask; the controllable blinking module is used to control whether to block or allow incident light from the external environment; the closing operation of the light mask includes a closing process and a closed state; the opening operation of the light mask includes an opening process and an open state;

[0010] A dynamic vision sensor, configured to measure brightness changes of light signals incident through the controllable blink module, and trigger an event when the brightness change exceeds a preset threshold; wherein the photomask correspondingly covers all or part of the light detection units in the dynamic vision sensor; and the event includes coordinate information of the triggered pixel, time information, and polarity information of the event;

[0011] The event processing unit is used to perform calculations based on the event stream generated by the dynamic vision sensor and reconstruct absolute light intensity images of static scenes and dynamic scenes in the external environment.

[0012] As a preferred solution, the dynamic vision sensor includes an array-type asynchronous spatiotemporal event image sensor based on retinal neuromorphism, which is used to asynchronously measure the brightness change at each pixel.

[0013] As a preferred embodiment, the control unit includes a rate control subunit and a frequency control subunit; wherein, the rate control subunit is used to manually control or circuit control the completion rate of the closing process and / or opening process in each closing operation and / or opening operation of the photomask; is used to control the closing operation or opening operation of the photomask at a uniform rate or a variable rate; is used to control the photomask to perform a closing operation or an opening operation when it is not fully opened or closed; the frequency control subunit is used to control the cycle frequency of the closing operation and / or opening operation of the photomask at a fixed frequency or a variable frequency; the frequency controlled by the frequency control subunit is less than 60 times / second.

[0014] As a preferred solution, the photomask includes at least one light-shielding baffle, and a rolling shutter mode is used to achieve closing and / or opening operation adjustment of the photomask; the light-shielding baffle includes a flexible rolling shutter or a retractable baffle.

[0015] As a preferred solution, the photomask includes an array composed of a plurality of light-passing sub-units or light-blocking sub-units uniformly filled, and a global mode or a rolling shutter mode is used to implement the closing operation and / or opening operation adjustment of the photomask.

[0016] As a preferred solution, the photomask includes a first photomask layer and a second photomask layer; wherein the first photomask layer includes a light shielding plate, and the second photomask layer includes a photomask composed of a light-transmitting coding pattern or a light-blocking coding pattern.

[0017] As a preferred solution, the system further includes a polarization optical device including a coding pattern for obtaining polarized light or biased light; the polarization optical device is used to obtain polarization information of the external environment and transmit it to the event processing unit for resolution.

[0018] As a preferred embodiment, the system further includes a filter optical device, which includes a coded pattern for obtaining light of a specific wavelength or multiple wavelengths of light; the filter optical device is used to obtain light information of a specific wavelength in the external environment or target spectrum information, and transmit it to the event processing unit for resolution.

[0019] Furthermore, the present invention also proposes a bionic event imaging method, which uses the bionic event imaging system proposed in the present invention. The method includes the following steps:

[0020] According to the target acquisition requirements, the closing operation and / or opening operation of the photomask is controlled by the control unit; wherein:

[0021] When it is not required to obtain the absolute brightness information of the scene, the control unit controls the light mask to perform an opening operation and maintain an open state, and the event processing unit generates a dynamic scene image in the external environment;

[0022] When it is required to obtain the absolute brightness information of the scene, the control unit controls the light mask to perform a cyclic closing-opening operation, and the dynamic vision sensor measures the brightness changes of the light signal incident through the controllable blinking module and generates an event stream; the event processing unit solves the event stream generated by the dynamic vision sensor and reconstructs the absolute light intensity image of the static scene in the external environment.

[0023] As a preferred solution, when it is required to obtain the absolute brightness information of the scene, the event processing unit calculates the trigger rate of the event based on the event stream; when the trigger rate of the event shows an increasing trend within a preset time window, the closing-opening operation frequency of the photomask is controlled to decrease through the control unit; when the trigger rate of the event shows a decreasing trend within the preset time window, the closing-opening operation frequency of the photomask is controlled to increase through the control unit.

[0024] Compared with the prior art, the beneficial effects of the technical solution of the present invention are as follows: the present invention simulates the blinking process of humans and animals, places a controllable blinking module in front of the dynamic vision sensor, and controls the closing-opening operation of the controllable blinking module to realize the collection of the entire scene information. Finally, the generated event stream is used in the event processing unit to complete the absolute light intensity image reconstruction of static and dynamic scenes, which can reduce the complexity and production cost of the event camera, and at the same time can maximize the high dynamic range, low latency and low power consumption advantages of the event camera; the present invention only uses the event stream triggered by the dynamic vision sensor to reconstruct the image, and the absolute light intensity image thus calculated and reconstructed has the advantages of high imaging quality in high dynamic range scenes, high temporal resolution of the reconstructed image, and no motion blur. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] FIG1 is an architectural diagram of a bionic event imaging system.

[0026] Figure 2 shows the event stream generated for some static scenes and the reconstructed absolute intensity image.

[0027] FIG3 is a schematic diagram of the optical path structure of a system provided with a single-layer photomask.

[0028] FIG4 is a schematic diagram of the optical path structure of a system provided with a double-layer photomask.

[0029] FIG5 is a schematic diagram of the optical path structure of a system provided with a polarization optical device.

[0030] FIG6 is a schematic diagram of the optical path structure of a system provided with a filter optical device.

[0031] FIG7 is a flow chart of a bionic event imaging method.

[0032] Among them, 1-lens or lens group, 2-controllable blink module, 210-photomask, 211-first photomask layer, 212-second photomask layer, 220-control unit, 3-dynamic vision sensor, 4-event processing unit DETAILED DESCRIPTION

[0033] The accompanying drawings are for illustrative purposes only and are not to be construed as limiting this patent;

[0034] In order to better illustrate this embodiment, some parts in the drawings may be omitted, enlarged, or reduced, and do not represent the actual product size;

[0035] It is understandable to those skilled in the art that some well-known structures and descriptions thereof may be omitted in the drawings.

[0036] The technical solution of the present invention is further described below with reference to the accompanying drawings and embodiments.

[0037] Example 1

[0038] This embodiment proposes a bionic event imaging system, as shown in FIG1 , which is an architecture diagram of the bionic event imaging system of this embodiment.

[0039] The bionic event imaging system proposed in this embodiment includes:

[0040] The lens or lens group 1 is used to converge light from the external environment.

[0041] A controllable blinking module 2 includes a photomask 210 and a control unit 220 for the closing operation and / or opening operation of the photomask 210; the controllable blinking module 2 is used to control the blocking or allowing of light from the external environment to enter; the closing operation of the photomask 210 includes a closing process and a closed state; the opening operation of the photomask 210 includes an opening process and an open state.

[0042] The dynamic vision sensor 3 is used to measure the brightness change of the light signal incident through the controllable blink module 2, and trigger an event when the brightness change exceeds a preset threshold; wherein the photomask 210 corresponds to covering all or part of the light detection units in the dynamic vision sensor 3; the event includes the coordinate information of the triggered pixel, time information and polarity information of the event.

[0043] The event processing unit 4 is used to perform calculations based on the event stream generated by the dynamic vision sensor 3 to reconstruct and generate absolute light intensity images of static scenes and dynamic scenes in the external environment.

[0044] During the specific implementation process, the controllable blinking module 2 is optionally set at the entrance pupil of the lens or lens group 1, or at the exit pupil of the lens or lens group 1, or in the optical path of the lens group, or in front of the photosensitive window of the dynamic vision sensor 3, or integrated on the photosensitive window surface of the dynamic vision sensor 3.

[0045] The dynamic vision sensor 3 is arranged at the back focal plane of the lens or lens group 1 , and the light from the external environment converged by the lens or lens group 1 is incident on the dynamic vision sensor 3 .

[0046] The light mask 210 in the controllable blink module 2 closes or opens under the control of the control unit 220, thereby blocking light from the external scene from entering the dynamic vision sensor 3 or allowing light from the external scene to enter the dynamic vision sensor 3. The dynamic vision sensor 3 measures the brightness change of each pixel through its array of light detection units. When the brightness change exceeds a certain threshold, an event is triggered. The triggered event includes the coordinate information of the triggered pixel, time information, and polarity information of the event, generating an event stream containing dynamic and static scene information in the external environment and transmitting it to the event processing unit 4. The event processing unit 4 performs corresponding storage, decoding, and calculation operations on the event stream jointly generated by the dynamic vision sensor 3 and the controllable blink module 2 to reconstruct the absolute light intensity images of the static and dynamic scenes in the external environment.

[0047] This embodiment simulates the blinking process of humans and animals, places a controllable blinking module in front of the dynamic vision sensor 3, and controls the closing and opening operations of the controllable blinking module 2 to collect the entire scene information. Finally, the generated event stream is used in the event processing unit 4 to complete the absolute light intensity image reconstruction of static and dynamic scenes. Compared with the technology of adding an APS sensor to the camera chip, this embodiment can reduce the complexity and production cost of the chip, while maintaining the advantages of high dynamic range, low latency, and low power consumption of the event camera to the greatest extent. Compared with the technology of obtaining scene information by adding the flashing of an active light source outside the event camera, it avoids the greater power consumption requirements and structural complexity brought about by the introduction of active light source equipment, especially the problem of severely limited working performance in strong outdoor light or complex lighting scenes.

[0048] In addition, the bionic event imaging system of this embodiment only uses the event stream triggered by the dynamic vision sensor 3 to reconstruct the image. The absolute light intensity image thus calculated and reconstructed has the advantages of high imaging quality in high dynamic range scenes, high temporal resolution of the reconstructed image, and no motion blur.

[0049] It should be noted that, according to the operating principle of event cameras, events represent brightness changes, and each pixel independently encodes the brightness change at a local location in the scene by generating an event. Therefore, "absolute" brightness can be reconstructed by integrating the pixel-by-pixel events. In this embodiment, an exponentially decaying integral function is used to achieve this.

[0050] As an example, Figure 2 shows the event streams and reconstructed absolute intensity images generated for some static scenes. Figure 2(a) shows the event stream generated from a static scene in response to the closing-opening operation of the controllable blink module 2 in rolling shutter mode, with a time window of 2ms. Figure 2(b) shows the absolute intensity image reconstructed from the event stream shown in Figure 2(a). Figure 2(c) shows another event stream generated from a static scene in response to the closing-opening operation of the controllable blink module 2 in rolling shutter mode, with a time window of 2ms. Figure 2(d) shows the absolute intensity image reconstructed from the event stream shown in Figure 2(c).

[0051] Furthermore, in an optional embodiment, the control unit 220 includes a rate control subunit and a frequency control subunit.

[0052] The rate control subunit is used to manually or circuit-control the completion rate of the closing and opening processes during the closing-opening operation of the photomask 210, and to control the closing or opening of the photomask 210 at a constant or variable rate, that is, to control the blink rate. The rate control subunit is also used to control the closing or opening of the photomask 210 when it is not fully opened or closed.

[0053] In the working state, the photomask 210 is in the open state for receiving information; when the photomask 210 is in the closed state, the system is in a state of not receiving information.

[0054] Optionally, in this embodiment, the total duration of the open state is set to be greater than twice the total duration of the closed state to ensure effective acquisition of external environment information.

[0055] The frequency control subunit is used to control the cycle frequency of the closing operation and / or opening operation of the photomask 210 at a fixed frequency or a variable frequency, that is, to control the blinking frequency.

[0056] Optionally, the frequency controlled by the frequency control subunit is less than 60 times / second.

[0057] It should be noted that the control unit 220 in this embodiment can be optionally integrated into the dynamic vision sensor 3 or arranged outside the dynamic vision sensor 3, but the control circuit of the control unit 220 is independent of the circuit of the dynamic vision sensor 3, and the two do not need to be synchronized.

[0058] Furthermore, in an optional embodiment, the photomask 210 includes at least one light-shielding baffle, and a rolling shutter mode is used to adjust the opening and closing state of the photomask 210; the light-shielding baffle includes a flexible rolling shutter or a retractable baffle.

[0059] In another optional embodiment, the photomask 210 comprises an array of a plurality of light-passing sub-units or light-blocking sub-units uniformly filled with a 100% filling rate. The photomask 210 adopts a global mode or a rolling shutter mode to adjust the opening and closing state of the photomask 210.

[0060] As an exemplary description, this embodiment adopts a rolling shutter mode to adjust the open and close state of the photomask 210 .

[0061] As an example, Figure 3 shows a schematic diagram of the optical path structure of a system equipped with a single-layer photomask 210. The photomask 210 is a single-layer structure that can cover all or part of the light detection units of the dynamic vision sensor 3. Its structure is indicated by the reference numerals 2a, 2b, 2c, and 2d in Figure 3. Reference numeral 2a represents a photomask structure employing a light-shielding baffle composed of an array of light-passing / light-blocking sub-units with a 100% fill rate; reference numeral 2b represents a photomask structure employing a uniform light-shielding baffle; reference numeral 2c represents a photomask structure in which the light-shielding baffle covers only the upper half of the imaging system pupil; and reference numeral 2d represents a photomask structure in which the light-shielding baffle covers only the lower half of the imaging system pupil.

[0062] Among them, when the light mask 210 is closed row by row until it is in a closed state, the light mask 210 will gradually change from partially blocking to completely isolating the light from the external scene from entering the dynamic vision sensor 3; when the light mask 210 is opened row by row until it is in an open state, the light from the external scene will change from partially incident to completely incident on the dynamic vision sensor 3.

[0063] In another optional embodiment, the photomask 210 includes a first photomask layer 211 and a second photomask layer 212 ; wherein the first photomask layer 211 includes a light shielding plate, and the second photomask layer 212 includes a photomask 210 composed of a light-transmitting coding pattern or a light-blocking coding pattern.

[0064] As an example, Figure 4 shows a schematic diagram of the optical path structure of a system with a double-layer photomask 210. The first photomask layer 211 is a single-layer light-shielding baffle, with a closing-opening cycle frequency of less than 60 times per second within any time interval. The second photomask layer 212 is a photomask 210 composed of a light-transmitting or light-blocking coded pattern, corresponding to the array of light detection units of the dynamic vision sensor 3. The second photomask layer 212 operates when the first photomask layer 211 is in the open state.

[0065] It should be noted that the coding pattern in the second photomask layer 212 in this embodiment may be a fixed coding pattern or a programming-controlled coding pattern.

[0066] The photomask 210 structure provided in this embodiment can adopt corresponding photomask 210 structures according to different application scenarios or tasks. In addition, the photomask 210 can realize blinking and compressed sensing random coding functions, further reducing data redundancy.

[0067] Example 2

[0068] This embodiment makes improvements based on the bionic event imaging system proposed in Example 1.

[0069] The bionic event imaging system proposed in this embodiment includes:

[0070] The lens or lens group 1 is used to converge light from the external environment.

[0071] A controllable blinking module 2 includes a photomask 210 and a control unit 220 for closing and / or opening operations of the photomask 210; the controllable blinking module 2 is used to control whether to block or allow light from the external environment to enter; the closing operation of the photomask 210 includes a closing process and a closed state; the opening operation of the photomask 210 includes an opening process and an open state.

[0072] The dynamic vision sensor 3 is used to measure the brightness change of the light signal incident through the controllable blink module 2, and trigger an event when the brightness change exceeds a preset threshold; wherein the photomask 210 corresponds to covering all or part of the light detection units in the dynamic vision sensor 3; the event includes the coordinate information of the triggered pixel, time information and polarity information of the event.

[0073] The event processing unit 4 is used to perform calculations based on the event stream generated by the dynamic vision sensor 3 to reconstruct and generate absolute light intensity images of static scenes and dynamic scenes in the external environment.

[0074] Furthermore, in an optional embodiment, the dynamic vision sensor 3 includes an array-type asynchronous spatiotemporal event image sensor based on retinal neuromorphism, which is used to asynchronously measure the brightness change of each pixel and trigger an event when the brightness change exceeds a preset threshold.

[0075] In an optional embodiment, the system further includes a polarization optical device 5 including a coding pattern for obtaining polarized light or biased light; the polarization optical device 5 is used to obtain polarization information of the external environment and transmit it to the event processing unit 4 for resolution.

[0076] As an example, FIG5 shows a schematic diagram of the optical path structure of a system equipped with a polarization optical device 5. The polarization optical device 5 is provided with a coded pattern for acquiring polarized or biased light, and the pattern corresponds to the array of light detection units in the dynamic vision sensor 3 on a pixel-by-pixel or pixel-by-pixel basis.

[0077] The polarization optical device 5 can be optionally arranged at the entrance pupil or exit pupil of the optical lens or lens group 1, or can be optionally arranged on the surface of the dynamic vision sensor 3 or integrated in the photosensitive window surface of the dynamic vision sensor 3 to obtain polarization information of the external environment.

[0078] The polarization light coding pattern of the polarization optical device 5 of this embodiment can be combined with the pattern coding of the light-passing subunit or the light-blocking subunit in the controllable blink module 2, and the physical gating of blocking or passing light is achieved by using polarization characteristics.

[0079] In an optional embodiment, the system further includes a filter optical device 6, which includes a coded pattern for obtaining light of a specific wavelength or multiple wavelengths of light; the filter optical device 6 is used to obtain light information of a specific wavelength in the external environment or target spectrum information, and transmit it to the event processing unit 4 for resolution.

[0080] As an example, FIG6 shows a schematic diagram of the optical path structure of a system equipped with a filter optical device 6. The filter optical device 6 is provided with a coded pattern for capturing light of a specific wavelength or multiple wavelengths, and the pattern corresponds to the pixel array arrangement of the light detection unit in the dynamic vision sensor 3 on a pixel-by-pixel or pixel-by-pixel basis.

[0081] The filter optical device 6 can be optionally placed at the entrance pupil or exit pupil of the optical lens or lens group 1, or can be optionally placed in front of the photosensitive window of the dynamic vision sensor 3 or integrated on the photosensitive window surface of the dynamic vision sensor 3 to obtain light information of a specific wavelength or spectral information of the external environment.

[0082] Example 3

[0083] This embodiment proposes a bionic event imaging method, which applies the bionic event imaging system proposed in Example 1 or Example 2. As shown in FIG7 , it is a flow chart of the bionic event imaging method of this embodiment.

[0084] The bionic event imaging method proposed in this embodiment includes the following steps:

[0085] According to the target acquisition requirements, the closing operation and / or opening operation of the photomask 210 is controlled by the control unit 220; wherein:

[0086] When it is not required to obtain the absolute brightness information of the scene, the control unit 220 controls the light mask 210 to perform an opening operation and keep the light mask open, and the event processing unit 4 generates a dynamic scene image in the external environment;

[0087] When it is required to obtain the absolute brightness information of the scene, the control unit 220 controls the light mask 210 to perform a cyclic closing-opening operation, and the dynamic vision sensor 3 measures the brightness change of the light signal incident through the controllable blinking module 2 and generates an event stream; the event processing unit 4 solves the event stream generated by the dynamic vision sensor 3 and reconstructs the absolute light intensity image of the static scene in the external environment.

[0088] During implementation, the system is initialized, turning on controllable blink module 2 and activating dynamic vision sensor 3. When acquiring an absolute intensity image of the entire scene, controllable blink module 2 performs a single close-open operation or a cyclical close-open operation, and then decodes the event stream generated by this process in event processing unit 4. When acquiring an absolute intensity image of the entire scene is not necessary, the generated event stream is directly decoded in event processing unit 4.

[0089] Furthermore, in an optional embodiment, when it is required to obtain the absolute brightness information of the scene, the event processing unit 4 calculates the trigger rate of the event based on the event stream. When the trigger rate of the event shows an increasing trend within a preset time window, the closing-opening operation frequency of the photomask 210 is controlled to decrease through the control unit 220; when the trigger rate of the event shows a decreasing trend within the preset time window, the closing-opening operation frequency of the photomask 210 is controlled to increase through the control unit 220.

[0090] When acquiring the absolute brightness information of a scene, the control unit 220 controls the light mask 210 to cycle through a closing and opening cycle. The dynamic vision sensor 3 measures the brightness changes of the light signal incident through the controllable blink module 2 and generates an event stream. The event processing unit 4 decodes the event stream within a preset time window and determines whether the number of events has increased. If so, it indicates that moving objects dominate the scene. In this case, the control unit 220 controls the frequency of the closing and opening cycles of the light mask 210 to decrease, and the event processing unit 4 decodes the event stream generated by this process into an image. If not, it indicates that static objects dominate the scene. In this case, the control unit 220 controls the frequency of the closing and opening cycles of the light mask 210 to increase, and the event processing unit 4 decodes the event stream generated by this process into an image. This achieves adaptive acquisition of the absolute light intensity information image of the entire scene.

[0091] The same or similar reference numerals correspond to the same or similar components;

[0092] The terms used in the drawings to describe positional relationships are for illustrative purposes only and should not be construed as limiting this patent;

[0093] Obviously, the above embodiments of the present invention are merely examples for the purpose of clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Those skilled in the art will appreciate that other variations or modifications can be made based on the above description. It is not necessary and impossible to enumerate all embodiments here. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the claims of the present invention.

Claims

1. A bionic event imaging system, characterized in that: include: A lens or a lens group (1) for focusing light from the external environment; A controllable blinking module (2), comprising a photomask (210), and a control unit (220) for closing and / or opening the photomask (210); the controllable blinking module (2) is used to control whether to block or allow incident light from an external environment; the closing operation of the photomask (210) includes a closing process and a closed state; the opening operation of the photomask (210) includes an opening process and an open state; A dynamic vision sensor (3) is used to measure the brightness change of the light signal incident through the controllable blink module (2), and trigger an event when the brightness change exceeds a preset threshold; wherein the light mask (210) corresponds to covering all or part of the light detection units in the dynamic vision sensor (3); and the event includes coordinate information of the triggered pixel, time information, and polarity information of the event; An event processing unit (4) is used to perform calculations based on the event stream generated by the dynamic vision sensor (3) to reconstruct and generate absolute light intensity images of static scenes and dynamic scenes in the external environment.

2. The bionic event imaging system according to claim 1, characterized in that: The dynamic vision sensor (3) comprises an array-type asynchronous spatiotemporal event image sensor based on retinal neuromorphic simulation, which is used to asynchronously measure the brightness change at each pixel.

3. The bionic event imaging system according to claim 1, characterized in that: The control unit (220) comprises a rate control subunit and a frequency control subunit; wherein: The rate control subunit is used to manually control or circuit control the completion rate of the closing process and / or opening process in each closing operation and / or opening operation of the photomask (210); to control the closing operation or opening operation of the photomask (210) at a uniform rate or a variable rate; and to control the photomask (210) to perform a closing operation or an opening operation when it is not completely opened or closed. The frequency control subunit is used to control the cycle frequency of the closing operation and / or opening operation of the photomask (210) at a fixed frequency or a variable frequency; the frequency controlled by the frequency control subunit is less than 60 times / second.

4. The bionic event imaging system according to claim 1, characterized in that: The photomask (210) comprises at least one layer of light-shielding baffle, and a rolling-blind mode is adopted to realize the closing operation and / or opening operation adjustment of the photomask (210); the light-shielding baffle comprises a flexible rolling-blind or a retractable baffle.

5. The bionic event imaging system according to claim 1, characterized in that: The photomask (210) comprises an array composed of a plurality of light-passing sub-units or light-blocking sub-units uniformly filled, and a global mode or a rolling shutter mode is used to implement the closing operation and / or opening operation adjustment of the photomask (210).

6. The bionic event imaging system according to claim 1, characterized in that: The photomask (210) comprises a first photomask layer (211) and a second photomask layer (212); wherein the first photomask layer (211) comprises a light shielding plate, and the second photomask layer (212) comprises a photomask (210) composed of a light-transmitting coding pattern or a light-blocking coding pattern.

7. The bionic event imaging system according to any one of claims 1 to 6, characterized in that: The system further comprises a polarization optical device (5) comprising a coding pattern for obtaining polarized light or biased light; the polarization optical device (5) is used to obtain polarization information of the external environment and transmit it to the event processing unit (4) for resolution.

8. The bionic event imaging system according to any one of claims 1 to 6, characterized in that: The system further comprises a filter optical device (6), which comprises a coding pattern for acquiring light of a specific wavelength or light of multiple wavelengths; the filter optical device (6) is used to acquire light information of a specific wavelength in the external environment or target spectrum information, and transmit it to the event processing unit (4) for resolution.

9. A bionic event imaging method, using the bionic event imaging system according to any one of claims 1 to 8, characterized in that: include: According to target acquisition requirements, the closing operation and / or opening operation of the photomask (210) is controlled by the control unit (220); wherein: When it is not required to obtain the absolute brightness information of the scene, the control unit (220) controls the light mask (210) to perform an opening operation and maintain an open state, and the event processing unit (4) generates a dynamic scene image in the external environment; When it is required to obtain the absolute brightness information of the scene, the control unit (220) controls the light mask (210) to perform a cyclic closing-opening operation, and the dynamic vision sensor (3) measures the brightness change of the light signal incident through the controllable blinking module (2) and generates an event stream; the event processing unit (4) performs calculations based on the event stream generated by the dynamic vision sensor (3) to reconstruct and generate an absolute light intensity image of a static scene in an external environment.

10. The bionic event imaging method according to claim 9, characterized in that: When it is required to obtain the absolute brightness information of the scene, the event processing unit (4) calculates the trigger rate of the event according to the event flow; when the trigger rate of the event shows an increasing trend within a preset time window, the control unit (220) controls the closing-opening operation frequency of the light mask (210) to decrease; when the trigger rate of the event shows a decreasing trend within the preset time window, the control unit (220) controls the closing-opening operation frequency of the light mask (210) to increase.

Images