Neuromorphic Event-Based 3D Pose Estimation

Frontiers in Neuroscience
David Reverter ValeirasRyad Benosman

Abstract

Pose estimation is a fundamental step in many artificial vision tasks. It consists of estimating the 3D pose of an object with respect to a camera from the object's 2D projection. Current state of the art implementations operate on images. These implementations are computationally expensive, especially for real-time applications. Scenes with fast dynamics exceeding 30-60 Hz can rarely be processed in real-time using conventional hardware. This paper presents a new method for event-based 3D object pose estimation, making full use of the high temporal resolution (1 μs) of asynchronous visual events output from a single neuromorphic camera. Given an initial estimate of the pose, each incoming event is used to update the pose by combining both 3D and 2D criteria. We show that the asynchronous high temporal resolution of the neuromorphic camera allows us to solve the problem in an incremental manner, achieving real-time performance at an update rate of several hundreds kHz on a conventional laptop. We show that the high temporal resolution of neuromorphic cameras is a key feature for performing accurate pose estimation. Experiments are provided showing the performance of the algorithm on real data, including fast moving objects, occ...Continue Reading

References

Sep 29, 2011·IEEE Transactions on Neural Networks·Ryad BenosmanChristoph Posch
Dec 14, 2011·Neural Networks : the Official Journal of the International Neural Network Society·Ryad BenosmanMandyam Srinivasan
Mar 21, 2015·IEEE Transactions on Neural Networks and Learning Systems·David Reverter ValeirasRyad Benosman
Sep 10, 2015·IEEE Transactions on Pattern Analysis and Machine Intelligence·Garrick OrchardRyad Benosman

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Citations

Jun 1, 2016·Frontiers in Neuroscience·David Reverter ValeirasRyad Benjamin Benosman
Mar 21, 2017·Frontiers in Neuroscience·Abhishek MishraSunil L Kukreja
Jun 14, 2019·Frontiers in Neurorobotics·Lea SteffenRüdiger Dillmann
Jun 1, 2021·Frontiers in Neuroscience·Patricia P ParlevlietCynthia F Moss
Jun 18, 2021·Frontiers in Neural Circuits·Mohammad-Hassan Tayarani-Najaran, Michael Schmuker

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Methods Mentioned

BETA
chip

Software Mentioned

Debian Linux
PosIt
Slerp
CamPoseCalib
OpenCV

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