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Continuous Structure From Motion (SfM) with an Event Camera
The goal of this project is to explore the possibilities that continuous structure from motion (SfM) has to offer for event cameras.
Event cameras such as the Dynamic Vision Sensor (DVS) are recent sensors with large potential for high-speed and high dynamic range robotic applications. The goal of this project is to explore the possibilities that continuous structure from motion (SfM) has to offer for event cameras. In the continuous formulation, visual egomotion methods attempt to estimate camera motion and scene parameters (depth of 3D points) from observed local image velocities such as optical flow. This formulation is appropriate for small-baseline displacements, which is the scale at which events are fired by a moving DVS in a static scene. Several ideas from classical and new methods will be taken into account to address the challenges that the fundamentally different output of a DVS poses to the SfM problem. The expected candidate should have good theoretical as well as programming skills to undertake this project.
Event cameras such as the Dynamic Vision Sensor (DVS) are recent sensors with large potential for high-speed and high dynamic range robotic applications. The goal of this project is to explore the possibilities that continuous structure from motion (SfM) has to offer for event cameras. In the continuous formulation, visual egomotion methods attempt to estimate camera motion and scene parameters (depth of 3D points) from observed local image velocities such as optical flow. This formulation is appropriate for small-baseline displacements, which is the scale at which events are fired by a moving DVS in a static scene. Several ideas from classical and new methods will be taken into account to address the challenges that the fundamentally different output of a DVS poses to the SfM problem. The expected candidate should have good theoretical as well as programming skills to undertake this project.
Not specified
Guillermo Gallego (guillermo.gallego at ifi.uzh.ch), Henri Rebecq (rebecq at ifi.uzh.ch)
Guillermo Gallego (guillermo.gallego at ifi.uzh.ch), Henri Rebecq (rebecq at ifi.uzh.ch)