Accurate Angular Velocity Estimation With an Event Camera
Accurate Angular Velocity Estimation With an Event Camera
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DOI：
10.1109/lra.2016.2647639
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发表时间：
2017-04-01
影响因子：
5.2
通讯作者：
Scaramuzza, Davide
中科院分区：
文献类型：
--
作者：
Gallego, Guillermo;Scaramuzza, Davide
我们提出了一种估计事件摄像机旋转运动的算法。与以固定速率生成图像的传统相机不同，活动相机具有独立的像素，可以以微秒级的分辨率对亮度变化做出异步反应。我们的方法利用这些新型传感器传达的信息类型(即边缘)来直接估计相机的角速度，而不需要光流或图像强度估计。该方法的核心是对比度最大化设计。该方法对地面真实数据和惯性测量单元的陀螺仪测量结果表现良好，即使在存在非常高速的运动(接近1000度/S)的情况下也是如此。
We present an algorithm to estimate the rotational motion of an event camera. In contrast to traditional cameras, which produce images at a fixed rate, event cameras have independent pixels that respond asynchronously to brightness changes, with microsecond resolution. Our method leverages the type of information conveyed by these novel sensors (i.e., edges) to directly estimate the angular velocity of the camera, without requiring optical flow or image intensity estimation. The core of the method is a contrast maximization design. The method performs favorably against ground truth data and gyroscopic measurements from an InertialMeasurement Unit, even in the presence of very high-speed motions (close to 1000 deg/s).