Event-Based Pattern Projection Rate Control for Active Perception
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Solution Overview
Problem
Existing structured light perception systems using event-based cameras project light patterns at a fixed rate, which is slower than necessary due to varying event retrieval times based on scene changes, leading to inefficient use of processing resources.
Innovation Solution
Adaptive projection rate control system that dynamically adjusts the pattern projection rate based on event retrieval progress, using end-of-burst criteria to trigger the next pattern projection when specific conditions are met, such as event count or retrieval rate thresholds.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If a fixed pattern projection rate is used in structured light perception systems, then the system ensures reliable event retrieval for all scene changes, but the projection rate becomes slower than necessary due to worst-case scenario timing
Solution Approach 1:
The patent implements dynamic projection rate adjustment by monitoring event retrieval progress in real-time. The system transitions from a fixed projection rate to a variable rate that adapts to actual scene complexity, allowing faster projection when events are retrieved quickly and slower projection when complex scene changes occur, thus resolving the contradiction between reliability and productivity
Solution Approach 2:
The system introduces feedback loops that continuously monitor event retrieval status and use this information to adjust the projection rate. By feeding back the actual event retrieval time and scene complexity metrics to the projection controller, the system optimizes the projection rate dynamically, maintaining reliability while improving overall productivity
2Productivity
If the pattern projection rate is increased to improve processing efficiency, then productivity improves, but event retrieval may become incomplete for complex scene changes
Solution Approach 1:
The system dynamically adjusts the projection interval based on monitored event retrieval progress. When scene changes are simple and events are retrieved quickly, the projection rate increases to improve productivity. When complex scene changes are detected and event retrieval takes longer, the system automatically reduces the projection rate to ensure complete event capture, thus maintaining reliability while optimizing productivity
3Use of energy by moving object
If event-based cameras are used to reduce image data rate, then energy consumption and processing resources are reduced, but the system loses the ability to utilize temporal information from traditional frame-based cameras
Solution Approach 1:
The patent changes the operational parameters of the event-based camera by implementing variable projection rates and adaptive exposure timing. This allows the system to optimize energy consumption by reducing camera operation during periods of low scene activity while maintaining the ability to capture temporal information during dynamic scenes, thus resolving the contradiction between energy efficiency and information retention
Data Source
AI summary
A method is generally provided for adjusting a pattern projection rate in an active perception system, comprising the steps of observing a scene with an event-based sensor array; projecting a current light pattern of a sequence of light patterns on the scene for a given interval of time; retrieving events generated by the event-based sensor array in response to the projection of the current light pattern; monitoring a property of the event retrieval progress; and dynamically controlling the projection of the light pattern based on the property.