Publication
High-speed event camera tracking
Conference Article
Conference
British Machine Vision Conference (BMVC)
Edition
2020
Doc link
https://www.bmvc2020-conference.com/conference/papers/paper_0366.html
File
Abstract
Event cameras are bioinspired sensors with reaction times in the order of microseconds. This property makes them appealing for use in highly-dynamic computer vision applications. In this work, we explore the limits of this sensing technology and present an ultra-fast tracking algorithm able to estimate six-degree-of-freedom motion with dynamics over 25.8 g, at a throughput of 10 kHz, processing over a million events per second. Our method is capable of tracking either camera motion or the motion of an object in front of it, using an error-state Kalman filter formulated in a Lie-theoretic sense. The method includes a robust mechanism for the matching of events with projected line segments with very fast outlier rejection. Meticulous treatment of sparse matrices is applied to achieve real-time performance. Different motion models of varying complexity are considered for the sake of comparison and performance analysis.
Categories
computer vision.
Scientific reference
W.O. Chamorro, J. Andrade-Cetto and J. Solà. High-speed event camera tracking, 2020 British Machine Vision Conference, 2020, (Virtual).
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