51,966 research outputs found
Event-based Vision: A Survey
Event cameras are bio-inspired sensors that differ from conventional frame
cameras: Instead of capturing images at a fixed rate, they asynchronously
measure per-pixel brightness changes, and output a stream of events that encode
the time, location and sign of the brightness changes. Event cameras offer
attractive properties compared to traditional cameras: high temporal resolution
(in the order of microseconds), very high dynamic range (140 dB vs. 60 dB), low
power consumption, and high pixel bandwidth (on the order of kHz) resulting in
reduced motion blur. Hence, event cameras have a large potential for robotics
and computer vision in challenging scenarios for traditional cameras, such as
low-latency, high speed, and high dynamic range. However, novel methods are
required to process the unconventional output of these sensors in order to
unlock their potential. This paper provides a comprehensive overview of the
emerging field of event-based vision, with a focus on the applications and the
algorithms developed to unlock the outstanding properties of event cameras. We
present event cameras from their working principle, the actual sensors that are
available and the tasks that they have been used for, from low-level vision
(feature detection and tracking, optic flow, etc.) to high-level vision
(reconstruction, segmentation, recognition). We also discuss the techniques
developed to process events, including learning-based techniques, as well as
specialized processors for these novel sensors, such as spiking neural
networks. Additionally, we highlight the challenges that remain to be tackled
and the opportunities that lie ahead in the search for a more efficient,
bio-inspired way for machines to perceive and interact with the world
Scalable Full Flow with Learned Binary Descriptors
We propose a method for large displacement optical flow in which local
matching costs are learned by a convolutional neural network (CNN) and a
smoothness prior is imposed by a conditional random field (CRF). We tackle the
computation- and memory-intensive operations on the 4D cost volume by a
min-projection which reduces memory complexity from quadratic to linear and
binary descriptors for efficient matching. This enables evaluation of the cost
on the fly and allows to perform learning and CRF inference on high resolution
images without ever storing the 4D cost volume. To address the problem of
learning binary descriptors we propose a new hybrid learning scheme. In
contrast to current state of the art approaches for learning binary CNNs we can
compute the exact non-zero gradient within our model. We compare several
methods for training binary descriptors and show results on public available
benchmarks.Comment: GCPR 201
DeepMatching: Hierarchical Deformable Dense Matching
We introduce a novel matching algorithm, called DeepMatching, to compute
dense correspondences between images. DeepMatching relies on a hierarchical,
multi-layer, correlational architecture designed for matching images and was
inspired by deep convolutional approaches. The proposed matching algorithm can
handle non-rigid deformations and repetitive textures and efficiently
determines dense correspondences in the presence of significant changes between
images. We evaluate the performance of DeepMatching, in comparison with
state-of-the-art matching algorithms, on the Mikolajczyk (Mikolajczyk et al
2005), the MPI-Sintel (Butler et al 2012) and the Kitti (Geiger et al 2013)
datasets. DeepMatching outperforms the state-of-the-art algorithms and shows
excellent results in particular for repetitive textures.We also propose a
method for estimating optical flow, called DeepFlow, by integrating
DeepMatching in the large displacement optical flow (LDOF) approach of Brox and
Malik (2011). Compared to existing matching algorithms, additional robustness
to large displacements and complex motion is obtained thanks to our matching
approach. DeepFlow obtains competitive performance on public benchmarks for
optical flow estimation
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