title: Neuromorphic Event-Based 3D Pose Estimation.
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, occlusions, and cases where the neuromorphic camera and the object are both in motion.
authors.affiliation: Natural Vision and Computation Team, Institut de la Vision Paris, France.
authors.forename: David
authors.initials: D
authors.lastname: Reverter Valeiras
authors.affiliation: Temasek Labs, National University of Singapore Singapore.
authors.forename: Garrick
authors.initials: G
authors.lastname: Orchard
authors.affiliation: Natural Vision and Computation Team, Institut de la Vision Paris, France.
authors.forename: Sio-Hoi
authors.initials: SH
authors.lastname: Ieng
authors.affiliation: Natural Vision and Computation Team, Institut de la Vision Paris, France.
authors.forename: Ryad B
authors.initials: RB
authors.lastname: Benosman
keywords: 3D pose estimation; event-based computation; event-based imaging; neuromorphic vision; tracking
references.citation: IEEE Trans Neural Netw. 2011 Nov;22(11):1723-34
references.pmid: 21954205
references.citation: Neural Netw. 2012 Mar;27:32-7
references.pmid: 22154354
references.citation: IEEE Trans Neural Netw Learn Syst. 2015 Dec;26(12):3045-59
references.pmid: 25794399
references.citation: IEEE Trans Pattern Anal Mach Intell. 2015 Oct;37(10):2028-40
references.pmid: 26353184