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Communication Dans Un Congrès Année : 2024

Direct 3D model-based object tracking with event camera by motion interpolation

Résumé

Event cameras are recent sensors that measure intensity changes in each pixel asynchronously. It is being used due to lower latency and higher temporal resolution compared to traditional frame-based camera. We propose a method of 3D model-based object tracking directly from events captured by event camera. To enable reliable and accurate tracking of objects, we use a new event representation and predict brightness increment images with motion interpolation. Results of object tracking show the new methods significantly improves tracking duration and robustness, both for perspective and fisheye cameras. Our implementation succeeds in tracking objects when the camera speed is reaching 2 m/s.
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Dates et versions

hal-04519122 , version 1 (25-03-2024)

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Identifiants

  • HAL Id : hal-04519122 , version 1

Citer

Yufan Kang, Guillaume Caron, Ryoichi Ishikawa, Adrien Escande, Kevin Chappellet, et al.. Direct 3D model-based object tracking with event camera by motion interpolation. ICRA 2024 - International Conference on Robotics and Automation, IEEE, May 2024, Yokohama, Japan. ⟨hal-04519122⟩
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