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1. (WO2018037079) SIMULTANEOUS LOCALIZATION AND MAPPING WITH AN EVENT CAMERA

Pub. No.:    WO/2018/037079    International Application No.:    PCT/EP2017/071331
Publication Date: Fri Mar 02 00:59:59 CET 2018 International Filing Date: Fri Aug 25 01:59:59 CEST 2017
IPC: G06T 7/579
Applicants: UNIVERSITÄT ZÜRICH
Inventors: REBECQ, Henri
GALLEGO BONET, Guillermo
SCARAMUZZA, Davide
Title: SIMULTANEOUS LOCALIZATION AND MAPPING WITH AN EVENT CAMERA
Abstract:
The invention relates to a method for 3D reconstruction of a scene, wherein an event camera (1) is moved on a trajectory (T) along the scene, wherein the event camera (1) comprises a plurality of pixels that are configured to only output events (ek) in presence of brightness changes in the scene at the time (tk) they occur, wherein each event comprises the time (tk) at which it occurred, an address (xk,yk) of the respective pixel that detected the brightness change, as well as a polarity value (pk) indicating the sign of the brightness change, wherein a plurality of successive events generated by the event camera (1) along said trajectory (T) are back-projected according to the viewpoint (P) of the event camera (1) as viewing rays (R) through a discretized volume (DSI) at a reference viewpoint (RV) of a virtual event camera associated to said plurality of events, wherein said discretized volume (DSI) comprises voxels (V'), and wherein a score function ƒ(X) associated to the discretized volume (DSI) is determined, which score function ƒ(X) is the number of back-projected viewing rays (R) that pass through the respective voxel (V') with center X, and wherein said score function ƒ(X) is used to determine whether or not a 3D point of the 3D reconstruction of the scene is present in the respective voxel (V').