Live Demonstration: Real-Time Vi-SLAM With High-Resolution Event Camera

Event camera is bio-inspired vision sensors that output pixel-level brightness changes asynchronously. Compared to the conventional frame-based camera, it is with high dynamic range, low latency and high sensitivity, and thus can be exploited in SLAM to tackle the problem of occasions with high-spee...

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Vydané v:	IEEE Computer Society Conference on Computer Vision and Pattern Recognition workshops s. 1707 - 1708
Hlavní autori:	Yang, Gongyu, Ye, Qilin, He, Wanjun, Zhou, Lifeng, Chen, Xinyu, Yu, Lei, Yang, Wen, Chen, Shoushun, Li, Wei
Médium:	Konferenčný príspevok..
Jazyk:	English
Vydavateľské údaje:	IEEE 01.06.2019
Predmet:	Cameras Current measurement Feature extraction Real-time systems Simultaneous localization and mapping Spatial resolution
ISSN:	2160-7516
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Popis
Shrnutí:	Event camera is bio-inspired vision sensors that output pixel-level brightness changes asynchronously. Compared to the conventional frame-based camera, it is with high dynamic range, low latency and high sensitivity, and thus can be exploited in SLAM to tackle the problem of occasions with high-speed camera moving and low-light scenes. In this demo, we implement the visual-inerial SLAM in real time with the recently released event camera, namely, CeleX-V. With the feature of high spatial resolution (1280x800) and low latency <0.5us, the proposed method can provide frames with abundant textures and high time response, which leads to more stable tracking ability and better performance in SLAM system.
ISSN:	2160-7516
DOI:	10.1109/CVPRW.2019.00219