Title:
CORNER DETECTION METHOD BASED ON DYNAMIC VISION SENSOR
Document Type and Number:
WIPO Patent Application WO/2020/143499
Kind Code:
A1
Abstract:
Disclosed is a corner detection method based on a dynamic vision sensor. The method comprises the following steps: 1) constructing a corner detection template for each newly incoming event in dynamic vision sensor data by taking same as the center of a circle; 2) counting the number of corresponding events in the template according to the polarity and timestamp of the event at the center of the circle; 3) determining, according to the counted number of corresponding events, whether the center of the circle is an initial corner; and 4) carrying out non-maximum suppression on the determined initial corner to obtain a final corner. Compared with the prior art, the method has the advantages of being quick, accurate, etc.
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Inventors:
CHEN GUANG (CN)
LIU PEIGEN (CN)
SHEN LYUYU (CN)
NING XIANGYU (CN)
TANG LIXUAN (CN)
LIU PEIGEN (CN)
SHEN LYUYU (CN)
NING XIANGYU (CN)
TANG LIXUAN (CN)
Application Number:
PCT/CN2019/130225
Publication Date:
July 16, 2020
Filing Date:
December 31, 2019
Export Citation:
Assignee:
UNIV TONGJI (CN)
International Classes:
G06T7/13
Foreign References:
| CN109919957A | 2019-06-21 |
Other References:
MÜGGLER, ELIAS ; BARTOLOZZI, CHIARA ; SCARAMUZZA, DAVIDE: "Fast event-based corner detection", BRITISH MACHINE VISION CONFERENCE (BMVC), 7 September 2017 (2017-09-07), pages 1 - 12, XP055718940, DOI: 10.5167/uzh-138925
VASCO VALENTINA; GLOVER ARREN; BARTOLOZZI CHIARA: "Fast Event-based Harris Corner Detection Exploiting the Advantages of Event-driven Cameras", 2016 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 14 October 2016 (2016-10-14), pages 4144 - 4149, XP033011960, DOI: 10.1109/IROS.2016.7759610
ALZUGARAY IGNACIO; CHLI MARGARITA: "Asynchronous Corner Detection and Tracking for Event Cameras in Real Time", IEEE ROBOTICS AND AUTOMATION LETTERS, vol. 3, no. 4, 31 October 2018 (2018-10-31), pages 3177 - 3184, XP011687102
VASCO VALENTINA; GLOVER ARREN; BARTOLOZZI CHIARA: "Fast Event-based Harris Corner Detection Exploiting the Advantages of Event-driven Cameras", 2016 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 14 October 2016 (2016-10-14), pages 4144 - 4149, XP033011960, DOI: 10.1109/IROS.2016.7759610
ALZUGARAY IGNACIO; CHLI MARGARITA: "Asynchronous Corner Detection and Tracking for Event Cameras in Real Time", IEEE ROBOTICS AND AUTOMATION LETTERS, vol. 3, no. 4, 31 October 2018 (2018-10-31), pages 3177 - 3184, XP011687102
Attorney, Agent or Firm:
XINYU YUXING INTELLECTUAL PROPERTY AGENCY (GENERAL PARTNERSHIP) (CN)
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