Asynchronous Event-Based Binocular Stereo Matching
Asynchronous Event-Based Binocular Stereo Matching
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DOI：
10.1109/tnnls.2011.2180025
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发表时间：
2012-02-01
影响因子：
10.4
通讯作者：
Delbruck, Tobi
中科院分区：
文献类型：
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作者：
Rogister, Paul;Benosman, Ryad;Delbruck, Tobi
我们提出了一种新的基于事件的立体匹配算法，该算法利用了来自一对硅视网膜的异步视觉事件。与传统的基于帧的相机不同，最近的人工视网膜以一种类似于生物视网膜输出细胞的方式，将其输出作为异步时间事件的连续流传输。我们的算法利用这种表示所携带的时间信息来解决运动物体上的立体匹配问题。利用动态视觉传感器采集的数据流的高时间分辨率，我们证明了视觉事件的时间匹配为三维物体的实时计算提供了一种新的解决方案，当结合使用到极线的距离的几何约束时。在传感器空间分辨率较低的情况下，该算法能够过滤掉不正确的匹配项，准确地重建运动物体的深度。本文为进一步的基于事件的视觉处理建立了原则，并展示了动态信息和峰值定时在处理视觉事件异步流中的重要性。
We present a novel event-based stereo matching algorithm that exploits the asynchronous visual events from a pair of silicon retinas. Unlike conventional frame-based cameras, recent artificial retinas transmit their outputs as a continuous stream of asynchronous temporal events, in a manner similar to the output cells of the biological retina. Our algorithm uses the timing information carried by this representation in addressing the stereo-matching problem on moving objects. Using the high temporal resolution of the acquired data stream for the dynamic vision sensor, we show that matching on the timing of the visual events provides a new solution to the real-time computation of 3-D objects when combined with geometric constraints using the distance to the epipolar lines. The proposed algorithm is able to filter out incorrect matches and to accurately reconstruct the depth of moving objects despite the low spatial resolution of the sensor. This brief sets up the principles for further event-based vision processing and demonstrates the importance of dynamic information and spike timing in processing asynchronous streams of visual events.