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| Type | Journal Article |
| Scope | Discipline-based scholarship |
| Title | Accurate angular velocity estimation with an event camera |
| Organization Unit | |
| Authors |
|
| Item Subtype | Original Work |
| Refereed | Yes |
| Status | Published in final form |
| Language |
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| Journal Title | IEEE Robotics and Automation Letters |
| Publisher | Institute of Electrical and Electronics Engineers |
| Geographical Reach | international |
| ISSN | 2377-3766 |
| Volume | 2 |
| Number | 2 |
| Page Range | 632 - 639 |
| Date | 2017 |
| Abstract Text | We present an algorithm to estimate the rotational motion of an event camera. In contrast to traditional cameras, which produce images at a fixed rate, event cameras have independent pixels that respond asynchronously to brightness changes, with microsecond resolution. Our method leverages the type of information conveyed by these novel sensors (i.e., edges) to directly estimate the angular velocity of the camera, without requiring optical flow or image intensity estimation. The core of the method is a contrast maximization design. The method performs favorably against ground truth data and gyroscopic measurements from an Inertial Measurement Unit, even in the presence of very high-speed motions (close to 1000 deg/s). |
| Free access at | DOI |
| Official URL | http://rpg.ifi.uzh.ch/docs/RAL16_Gallego.pdf |
| Digital Object Identifier | 10.1109/lra.2016.2647639 |
| Other Identification Number | merlin-id:15097 |
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| Additional Information | © 2017 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. |