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Feature-based Event Stereo Visual Odometry (CROSBI ID 705975)

Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija

Hadviger, Antea ; Cvišić, Igor ; Marković, Ivan ; Petrović, Ivan Feature-based Event Stereo Visual Odometry // European Conference on Mobile Robots. 2021. str. 1-6

Podaci o odgovornosti

Hadviger, Antea ; Cvišić, Igor ; Marković, Ivan ; Petrović, Ivan

engleski

Feature-based Event Stereo Visual Odometry

Event-based cameras are biologically inspired sensors that output \textit{; ; events}; ; , i.e., asynchronous pixel-wise brightness changes in the scene. Their high dynamic range and temporal resolution of a microsecond makes them more reliable than standard cameras in environments of challenging illumination and in high-speed scenarios, thus developing odometry algorithms based solely on event cameras offers exciting new possibilities for autonomous systems and robots. In this paper, we propose a novel stereo visual odometry method for event cameras based on feature detection and matching with careful feature management, while pose estimation is done by feature reprojection error minimization. We evaluate the performance of the proposed method on two publicly available datasets: MVSEC sequences captured by an indoor flying drone and DSEC outdoor driving sequences. MVSEC offers accurate ground truth from motion capture, while for DSEC, which does not offer ground truth, in order to obtain a reference trajectory on the standard camera frames we used our SOFT visual odometry, one of the highest ranking algorithms on the KITTI scoreboards. We compared our method to the ESVO method, which is the first and still the only stereo event odometry method, showing on par performance on both MVSEC and DSEC sequences. Furthermore, two important advantages of our method over ESVO are that it adapts tracking frequency to the asynchronous event rate and does not require initialization.

event-based cameras ; dynamic vision sensors ; stereo vision ; visual odometry

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Podaci o prilogu

1-6.

2021.

objavljeno

Podaci o matičnoj publikaciji

European Conference on Mobile Robots

Podaci o skupu

European Conference on Mobile Robots

predavanje

01.09.2021-03.09.2021

Bonn, Njemačka

Povezanost rada

Elektrotehnika, Računarstvo, Temeljne tehničke znanosti