イベントカメラSLAMのトラッキングにおける表現手法の比較
Comparing Representations in Tracking for Event Camera-based SLAM
イベントカメラSLAMのトラッキングで用いられる時間サーフェスとイベントマップの2表現を比較し、最適化の退化をオンライン検出して適切に切り替える改良トラッカーを提案した。
著者: Jianhao Jiao, Huaiyang Huang, Liang Li, Zhijian He, Yilong Zhu, Ming Liu
分類: cs.CV, cs.RO
原文アブストラクト
This paper investigates two typical image-type representations for event camera-based tracking: time surface (TS) and event map (EM). Based on the original TS-based tracker, we make use of these two representations' complementary strengths to develop an enhanced version. The proposed tracker consists of a general strategy to evaluate the optimization problem's degeneracy online and then switch proper representations. Both TS and EM are motion- and scene-dependent, and thus it is important to figure out their limitations in tracking. We develop six tracker variations and conduct a thorough comparison of them on sequences covering various scenarios and motion complexities. We release our implementations and detailed results to benefit the research community on event cameras: https: //github.com/gogojjh/ESVO_extension.
関連論文
- イベントカメラによる同時自己位置推定と地図構築：包括的サーベイイベントカメラSLAM
- イベントカメラSLAMのためのイベント蓄積設定の研究イベントカメラSLAM
