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Communication Dans Un Congrès Année : 2023

Time-to-Contact Map by Joint Estimation of Up-to-Scale Inverse Depth and Global Motion using a Single Event Camera

Urbano Miguel Nunes
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Sio-Hoi Ieng
  • Fonction : Auteur
  • PersonId : 1109507

Résumé

Event cameras asynchronously report brightness changes with a temporal resolution in the order of microseconds, which makes them inherently suitable to address problems that involve rapid motion perception. In this paper, we address the problem of time-to-contact (TTC) estimation using a single event camera. This problem is typically addressed by estimating a single global TTC measure, which explicitly assumes that the surface/obstacle is planar and fronto-parallel. We relax this assumption by proposing an incremental event-based method to estimate the TTC that jointly estimates the (up-to scale) inverse depth and global motion using a single event camera. The proposed method is reliable and fast while asynchronously maintaining a TTC map (TTCM), which provides perpixel TTC estimates. As a side product, the proposed method can also estimate per-event optical flow. We achieve state-of-the-art performances on TTC estimation in terms of accuracy and runtime per event while achieving competitive performance on optical flow estimation.
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Dates et versions

hal-04230502 , version 1 (06-10-2023)

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  • HAL Id : hal-04230502 , version 1

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Urbano Miguel Nunes, Laurent U Perrinet, Sio-Hoi Ieng. Time-to-Contact Map by Joint Estimation of Up-to-Scale Inverse Depth and Global Motion using a Single Event Camera. International Conference on Computer Vision (ICCV), 2023, Oct 2023, Paris, France. pp.23653-23663. ⟨hal-04230502⟩
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