Naslov
Feature-based Event Stereo Visual Odometry

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

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
European Conference on Mobile Robots / - , 2021, 1-6

Skup
European Conference on Mobile Robots

Mjesto i datum
Bonn, Njemačka, 01.09.2021. - 03.09.2021

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

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

Sažetak
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.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo, Temeljne tehničke znanosti

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