Visual Odometry with an Event Camera Using Continuous Ray Warping and Volumetric Contrast Maximization

doi:10.3390/s22155687

KMS > 信息科学与技术学院 > PI研究组 > Laurent Kneip组

	Visual Odometry with an Event Camera Using Continuous Ray Warping and Volumetric Contrast Maximization
	Wang, Yifu1 ; Yang, Jiaqi1 ; Peng, Xin1 ; Wu, Peng1 ; Gao, Ling1 ; Huang, Kun1 ; Chen, Jiaben1 ; Kneip, Laurent1,2
	2022-08
发表期刊	SENSORS (IF:3.4[JCR-2023],3.7[5-Year])
EISSN	1424-8220
卷号	22 期号:15
发表状态	已发表
DOI	10.3390/s22155687
摘要	We present a new solution to tracking and mapping with an event camera. The motion of the camera contains both rotation and translation displacements in the plane, and the displacements happen in an arbitrarily structured environment. As a result, the image matching may no longer be represented by a low-dimensional homographic warping, thus complicating an application of the commonly used Image of Warped Events (IWE). We introduce a new solution to this problem by performing contrast maximization in 3D. The 3D location of the rays cast for each event is smoothly varied as a function of a continuous-time motion parametrization, and the optimal parameters are found by maximizing the contrast in a volumetric ray density field. Our method thus performs joint optimization over motion and structure. The practical validity of our approach is supported by an application to AGV motion estimation and 3D reconstruction with a single vehicle-mounted event camera. The method approaches the performance obtained with regular cameras and eventually outperforms in challenging visual conditions.
关键词	computer vision event-based vision SLAM visual localization and mapping
URL	查看原文
收录类别	SCI ; EI ; SCIE
语种	英语
资助项目	Natural Science Foundation of Shanghai[22ZR1441300]
WOS研究方向	Chemistry ; Engineering ; Instruments & Instrumentation
WOS类目	Chemistry, Analytical ; Engineering, Electrical & Electronic ; Instruments & Instrumentation
WOS记录号	WOS:000839749000001
出版者	MDPI
引用统计	正在获取...
文献类型	期刊论文
条目标识符	https://kms.shanghaitech.edu.cn/handle/2MSLDSTB/219676
专题	信息科学与技术学院_PI研究组_Laurent Kneip组信息科学与技术学院_PI研究组_吴涛组信息科学与技术学院_本科生信息科学与技术学院_博士生
通讯作者	Kneip, Laurent
作者单位	1.ShanghaiTech Univ, Sch Informat Sci & Technol, Shanghai 201210, Peoples R China 2.ShanghaiTech Univ, Shanghai Engn Res Ctr Intelligent Vis & Imaging, Shanghai 201210, Peoples R China
第一作者单位	信息科学与技术学院
通讯作者单位	信息科学与技术学院; 上海科技大学
第一作者的第一单位	信息科学与技术学院
推荐引用方式 GB/T 7714	Wang, Yifu,Yang, Jiaqi,Peng, Xin,et al. Visual Odometry with an Event Camera Using Continuous Ray Warping and Volumetric Contrast Maximization[J]. SENSORS,2022,22(15).
APA	Wang, Yifu.,Yang, Jiaqi.,Peng, Xin.,Wu, Peng.,Gao, Ling.,...&Kneip, Laurent.(2022).Visual Odometry with an Event Camera Using Continuous Ray Warping and Volumetric Contrast Maximization.SENSORS,22(15).
MLA	Wang, Yifu,et al."Visual Odometry with an Event Camera Using Continuous Ray Warping and Volumetric Contrast Maximization".SENSORS 22.15(2022).