Neuromorphic Event-Based Generalized Time-Based Stereovision

Frontiers in Neuroscience
Sio-Hoi IengRyad Benosman

Abstract

3D reconstruction from multiple viewpoints is an important problem in machine vision that allows recovering tridimensional structures from multiple two-dimensional views of a given scene. Reconstructions from multiple views are conventionally achieved through a process of pixel luminance-based matching between different views. Unlike conventional machine vision methods that solve matching ambiguities by operating only on spatial constraints and luminance, this paper introduces a fully time-based solution to stereovision using the high temporal resolution of neuromorphic asynchronous event-based cameras. These cameras output dynamic visual information in the form of what is known as "change events" that encode the time, the location and the sign of the luminance changes. A more advanced event-based camera, the Asynchronous Time-based Image Sensor (ATIS), in addition of change events, encodes absolute luminance as time differences. The stereovision problem can then be formulated solely in the time domain as a problem of events coincidences detection problem. This work is improving existing event-based stereovision techniques by adding luminance information that increases the matching reliability. It also introduces a formulation ...Continue Reading

References

Oct 15, 1976·Science·D Marr, T Poggio
Jun 1, 2003·Neurocomputing·S SchreiberT J Sejnowski
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
Apr 3, 2013·Neural Networks : the Official Journal of the International Neural Network Society·João CarneiroRyad Benosman
Feb 1, 2012·IEEE Transactions on Neural Networks and Learning Systems·Paul RogisterTobi Delbruck
Jan 21, 2015·Neural Computation·Himanshu AkolkarRyad Benosman

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Citations

Jun 14, 2019·Frontiers in Neurorobotics·Lea SteffenRüdiger Dillmann
Dec 12, 2020·Frontiers in Neurorobotics·Nicoletta RisiGiacomo Indiveri
Jun 8, 2021·Frontiers in Robotics and AI·L SteffenR Dillmann

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Software Mentioned

Kinect
ATIS

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