84,974 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
Keyframe-based monocular SLAM: design, survey, and future directions
Extensive research in the field of monocular SLAM for the past fifteen years
has yielded workable systems that found their way into various applications in
robotics and augmented reality. Although filter-based monocular SLAM systems
were common at some time, the more efficient keyframe-based solutions are
becoming the de facto methodology for building a monocular SLAM system. The
objective of this paper is threefold: first, the paper serves as a guideline
for people seeking to design their own monocular SLAM according to specific
environmental constraints. Second, it presents a survey that covers the various
keyframe-based monocular SLAM systems in the literature, detailing the
components of their implementation, and critically assessing the specific
strategies made in each proposed solution. Third, the paper provides insight
into the direction of future research in this field, to address the major
limitations still facing monocular SLAM; namely, in the issues of illumination
changes, initialization, highly dynamic motion, poorly textured scenes,
repetitive textures, map maintenance, and failure recovery
Independent Motion Detection with Event-driven Cameras
Unlike standard cameras that send intensity images at a constant frame rate,
event-driven cameras asynchronously report pixel-level brightness changes,
offering low latency and high temporal resolution (both in the order of
micro-seconds). As such, they have great potential for fast and low power
vision algorithms for robots. Visual tracking, for example, is easily achieved
even for very fast stimuli, as only moving objects cause brightness changes.
However, cameras mounted on a moving robot are typically non-stationary and the
same tracking problem becomes confounded by background clutter events due to
the robot ego-motion. In this paper, we propose a method for segmenting the
motion of an independently moving object for event-driven cameras. Our method
detects and tracks corners in the event stream and learns the statistics of
their motion as a function of the robot's joint velocities when no
independently moving objects are present. During robot operation, independently
moving objects are identified by discrepancies between the predicted corner
velocities from ego-motion and the measured corner velocities. We validate the
algorithm on data collected from the neuromorphic iCub robot. We achieve a
precision of ~ 90 % and show that the method is robust to changes in speed of
both the head and the target.Comment: 7 pages, 6 figure
MobiFace: A Novel Dataset for Mobile Face Tracking in the Wild
Face tracking serves as the crucial initial step in mobile applications
trying to analyse target faces over time in mobile settings. However, this
problem has received little attention, mainly due to the scarcity of dedicated
face tracking benchmarks. In this work, we introduce MobiFace, the first
dataset for single face tracking in mobile situations. It consists of 80
unedited live-streaming mobile videos captured by 70 different smartphone users
in fully unconstrained environments. Over bounding boxes are manually
labelled. The videos are carefully selected to cover typical smartphone usage.
The videos are also annotated with 14 attributes, including 6 newly proposed
attributes and 8 commonly seen in object tracking. 36 state-of-the-art
trackers, including facial landmark trackers, generic object trackers and
trackers that we have fine-tuned or improved, are evaluated. The results
suggest that mobile face tracking cannot be solved through existing approaches.
In addition, we show that fine-tuning on the MobiFace training data
significantly boosts the performance of deep learning-based trackers,
suggesting that MobiFace captures the unique characteristics of mobile face
tracking. Our goal is to offer the community a diverse dataset to enable the
design and evaluation of mobile face trackers. The dataset, annotations and the
evaluation server will be on \url{https://mobiface.github.io/}.Comment: To appear on The 14th IEEE International Conference on Automatic Face
and Gesture Recognition (FG 2019
The role of human ventral visual cortex in motion perception.
Visual motion perception is fundamental to many aspects of visual perception. Visual motion perception has long been associated with the dorsal (parietal) pathway and the involvement of the ventral 'form' (temporal) visual pathway has not been considered critical for normal motion perception. Here, we evaluated this view by examining whether circumscribed damage to ventral visual cortex impaired motion perception. The perception of motion in basic, non-form tasks (motion coherence and motion detection) and complex structure-from-motion, for a wide range of motion speeds, all centrally displayed, was assessed in five patients with a circumscribed lesion to either the right or left ventral visual pathway. Patients with a right, but not with a left, ventral visual lesion displayed widespread impairments in central motion perception even for non-form motion, for both slow and for fast speeds, and this held true independent of the integrity of areas MT/V5, V3A or parietal regions. In contrast with the traditional view in which only the dorsal visual stream is critical for motion perception, these novel findings implicate a more distributed circuit in which the integrity of the right ventral visual pathway is also necessary even for the perception of non-form motion
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