Time-to-Contact Map by Joint Estimation of Up-to-Scale Inverse Depth and Global Motion using a Single Event Camera

Abstract

Event cameras asynchronously report brightness changes with a temporal resolution in the order of microseconds, which makes them inherently suitable to address problems that involve rapid motion perception, such as ventral landing and fast obstacle avoidance. These problems are typically addressed by estimating a single global time-to-contact (TTC) measure, which explicitly assumes that the surface/obstacle is planar and fronto-parallel. We relax this assumption by proposing an incremental event-based method to estimate the TTC that jointly estimates the (up-to scale) inverse depth and global motion using a single event camera. The proposed method is reliable and fast while asynchronously maintaining a TTC map (TTCM), which provides per-pixel TTC estimates. As a side product, the proposed method can also estimate per-event optical flow. We achieve state-of-the-art performances on TTC estimation in terms of accuracy and runtime per event while achieving competitive performance on optical flow estimation.

Laurent U Perrinet

Researcher in Computational Neuroscience

My research interests include Machine Learning and computational neuroscience applied to Vision.