Towards SLAM with an events-based camera

Event-based cameras have an incredible potential in real-time and real-world robotics. They would enable more efficient algorithms in applications where high demanding requirements, such as rapid dynamic motion and high dynamic range, make standard cameras run into problems rapid dynamic motion and...

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Detalhes bibliográficos
Autores: Clavera Gilaberte, Ignasi, Solà Ortega, Joan|||0000-0002-2933-3381, Andrade-Cetto, Juan|||0000-0002-6354-8941
Formato: informe técnico
Fecha de publicación:2016
País:España
Recursos:Universitat Politècnica de Catalunya (UPC)
Repositorio:UPCommons. Portal del coneixement obert de la UPC
Idioma:inglés
OAI Identifier:oai:upcommons.upc.edu:2117/110514
Acesso em linha:https://hdl.handle.net/2117/110514
Access Level:acceso abierto
Palavra-chave:computer vision
Classificació INSPEC::Pattern recognition::Computer vision
Àrees temàtiques de la UPC::Informàtica::Automàtica i control
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spelling Towards SLAM with an events-based cameraClavera Gilaberte, IgnasiSolà Ortega, Joan|||0000-0002-2933-3381Andrade-Cetto, Juan|||0000-0002-6354-8941computer visionClassificació INSPEC::Pattern recognition::Computer visionÀrees temàtiques de la UPC::Informàtica::Automàtica i controlEvent-based cameras have an incredible potential in real-time and real-world robotics. They would enable more efficient algorithms in applications where high demanding requirements, such as rapid dynamic motion and high dynamic range, make standard cameras run into problems rapid dynamic motion and high dynamic range. While traditional cameras are based in the frame-base paradigm - a shutter captures a certain amount of pictures per second -, the bio-inspired event cameras have pixels that respond independently to the change of log-intensity generating asynchronous events. An special appeal for this type of cameras is their low band-width, since the stream of events contain all the information getting rid of the redundancy. This sensors that mimic some properties of the human retina has microseconds latency and 120 dB dynamic range (in contrast to the 60 dB of the standard cameras). However, the current impact of the event cameras has been tiny due to the necessity of completely new algorithm, there is no global measurement of the intensity which would allow the use of current methods. The fact that an event corresponds to an asynchronous local intensity difference turns out to be a challenging problem if one wants to recover the motion as well as the scene. This article tries to illustrate the several problems that are needed to face when dealing with this problem and some of the different approaches taken. First of all, we will explain the generative model of the event camera and the preliminaries, followed by the different approaches. Finally will the conclusions and a glossary of the code.20162016-01-0120172017-11-13reporthttp://purl.org/coar/resource_type/c_93fcAOhttp://purl.org/coar/version/c_b1a7d7d4d402bcceinfo:eu-repo/semantics/reportapplication/pdfhttps://hdl.handle.net/2117/110514reponame:UPCommons. Portal del coneixement obert de la UPCinstname:Universitat Politècnica de Catalunya (UPC)Inglésengopen accesshttp://purl.org/coar/access_right/c_abf2Attribution-NonCommercial-NoDerivs 3.0 Spainhttp://creativecommons.org/licenses/by-nc-nd/3.0/es/info:eu-repo/semantics/openAccessoai:upcommons.upc.edu:2117/1105142026-05-27T15:37:01Z
dc.title.none.fl_str_mv Towards SLAM with an events-based camera
title Towards SLAM with an events-based camera
spellingShingle Towards SLAM with an events-based camera
Clavera Gilaberte, Ignasi
computer vision
Classificació INSPEC::Pattern recognition::Computer vision
Àrees temàtiques de la UPC::Informàtica::Automàtica i control
title_short Towards SLAM with an events-based camera
title_full Towards SLAM with an events-based camera
title_fullStr Towards SLAM with an events-based camera
title_full_unstemmed Towards SLAM with an events-based camera
title_sort Towards SLAM with an events-based camera
dc.creator.none.fl_str_mv Clavera Gilaberte, Ignasi
Solà Ortega, Joan|||0000-0002-2933-3381
Andrade-Cetto, Juan|||0000-0002-6354-8941
author Clavera Gilaberte, Ignasi
author_facet Clavera Gilaberte, Ignasi
Solà Ortega, Joan|||0000-0002-2933-3381
Andrade-Cetto, Juan|||0000-0002-6354-8941
author_role author
author2 Solà Ortega, Joan|||0000-0002-2933-3381
Andrade-Cetto, Juan|||0000-0002-6354-8941
author2_role author
author
dc.subject.none.fl_str_mv computer vision
Classificació INSPEC::Pattern recognition::Computer vision
Àrees temàtiques de la UPC::Informàtica::Automàtica i control
topic computer vision
Classificació INSPEC::Pattern recognition::Computer vision
Àrees temàtiques de la UPC::Informàtica::Automàtica i control
description Event-based cameras have an incredible potential in real-time and real-world robotics. They would enable more efficient algorithms in applications where high demanding requirements, such as rapid dynamic motion and high dynamic range, make standard cameras run into problems rapid dynamic motion and high dynamic range. While traditional cameras are based in the frame-base paradigm - a shutter captures a certain amount of pictures per second -, the bio-inspired event cameras have pixels that respond independently to the change of log-intensity generating asynchronous events. An special appeal for this type of cameras is their low band-width, since the stream of events contain all the information getting rid of the redundancy. This sensors that mimic some properties of the human retina has microseconds latency and 120 dB dynamic range (in contrast to the 60 dB of the standard cameras). However, the current impact of the event cameras has been tiny due to the necessity of completely new algorithm, there is no global measurement of the intensity which would allow the use of current methods. The fact that an event corresponds to an asynchronous local intensity difference turns out to be a challenging problem if one wants to recover the motion as well as the scene. This article tries to illustrate the several problems that are needed to face when dealing with this problem and some of the different approaches taken. First of all, we will explain the generative model of the event camera and the preliminaries, followed by the different approaches. Finally will the conclusions and a glossary of the code.
publishDate 2016
dc.date.none.fl_str_mv 2016
2016-01-01
2017
2017-11-13
dc.type.none.fl_str_mv report
http://purl.org/coar/resource_type/c_93fc
AO
http://purl.org/coar/version/c_b1a7d7d4d402bcce
dc.type.openaire.fl_str_mv info:eu-repo/semantics/report
format report
dc.identifier.none.fl_str_mv https://hdl.handle.net/2117/110514
url https://hdl.handle.net/2117/110514
dc.language.none.fl_str_mv Inglés
eng
language_invalid_str_mv Inglés
language eng
dc.rights.none.fl_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution-NonCommercial-NoDerivs 3.0 Spain
http://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.rights.openaire.fl_str_mv info:eu-repo/semantics/openAccess
rights_invalid_str_mv open access
http://purl.org/coar/access_right/c_abf2
Attribution-NonCommercial-NoDerivs 3.0 Spain
http://creativecommons.org/licenses/by-nc-nd/3.0/es/
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.source.none.fl_str_mv reponame:UPCommons. Portal del coneixement obert de la UPC
instname:Universitat Politècnica de Catalunya (UPC)
instname_str Universitat Politècnica de Catalunya (UPC)
reponame_str UPCommons. Portal del coneixement obert de la UPC
collection UPCommons. Portal del coneixement obert de la UPC
repository.name.fl_str_mv
repository.mail.fl_str_mv
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score 15,301629

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