Abstract
We propose a novel method for vision based simultaneous localization and mapping (vSLAM) using a biologically inspired vision sensor that mimics the human retina. The sensor consists of a 128x128 array of asynchronously operating pixels, which independently emit events upon a temporal illumination change. Such a representation generates small amounts of data with high temporal precision; however, most classic computer vision algorithms need to be reworked as they require full RGB(-D) images at fixed frame rates. Our presented vSLAM algorithm operates on individual pixel events and generates high-quality 2D environmental maps with precise robot localizations. We evaluate our method with a state-of-the-art marker-based external tracking system and demonstrate real-time performance on standard computing hardware.
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Weikersdorfer, D., Hoffmann, R., Conradt, J. (2013). Simultaneous Localization and Mapping for Event-Based Vision Systems. In: Chen, M., Leibe, B., Neumann, B. (eds) Computer Vision Systems. ICVS 2013. Lecture Notes in Computer Science, vol 7963. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-39402-7_14
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DOI: https://doi.org/10.1007/978-3-642-39402-7_14
Publisher Name: Springer, Berlin, Heidelberg
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