On the AER Stereo-Vision Processing: A Spike Approach to Epipolar Matching

Abstract

Image processing in digital computer systems usually considers visual information as a sequence of frames. These frames are from cameras that capture reality for a short period of time. They are renewed and transmitted at a rate of 25-30 fps (typical real-time scenario). Digital video processing has to process each frame in order to detect a feature on the input. In stereo vision, existing algorithms use frames from two digital cameras and process them pixel by pixel until it finds a pattern match in a section of both stereo frames. To process stereo vision information, an image matching process is essential, but it needs very high computational cost. Moreover, as more information is processed, the more time spent by the matching algorithm, the more inefficient it is. Spike-based processing is a relatively new approach that implements processing by manipulating spikes one by one at the time they are transmitted, like a human brain. The mammal nervous system is able to solve much more complex problems, such as visual recognition by manipulating neuron’s spikes. The spike-based philosophy for visual information processing based on the neuro-inspired Address-Event- Representation (AER) is achieving nowadays very high performances. The aim of this work is to study the viability of a matching mechanism in a stereo-vision system, using AER codification. This kind of mechanism has not been done before to an AER system. To do that, epipolar geometry basis applied to AER system are studied, and several tests are run, using recorded data and a computer. The results and an average error are shown (error less than 2 pixels per point); and the viability is proved.