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Visual Localization with Event Cameras
The goal of this master thesis is to develop and implement an algorithm for visual localization for event-based cameras. This algorithm will make use of novel features derived from events that will be developed as part of the thesis. In addition, the algorithm will be integrated with a state-of-the-art SLAM system for event-based cameras to build a prototypical localization system.
Visual localization is the problem of estimating the pose of a camera, i.e., the camera position and orientation, with respect to a 3D model of a scene. Solving this problem is a key step for many interesting applications such as autonomous vehicles, e.g., self-driving cars or drones, and Augmented Reality. The typical approach to solving this problem is to establish 2D-3D matches between features extracted from an images and 3D points in a pre-built map of the scene. These 2D-3D matches are then used to estimate the camera pose.
The goal of this master thesis is to develop and implement an algorithm for visual localization for event-based cameras, i.e., cameras that only report changes in pixel intensities rather than the original intensities. This algorithm will make use of novel features derived from events that will be developed as part of the thesis.
Visual localization is the problem of estimating the pose of a camera, i.e., the camera position and orientation, with respect to a 3D model of a scene. Solving this problem is a key step for many interesting applications such as autonomous vehicles, e.g., self-driving cars or drones, and Augmented Reality. The typical approach to solving this problem is to establish 2D-3D matches between features extracted from an images and 3D points in a pre-built map of the scene. These 2D-3D matches are then used to estimate the camera pose. The goal of this master thesis is to develop and implement an algorithm for visual localization for event-based cameras, i.e., cameras that only report changes in pixel intensities rather than the original intensities. This algorithm will make use of novel features derived from events that will be developed as part of the thesis.
Develop and implement an algorithm for visual localization for event-based cameras. This algorithm will make use of novel features derived from events that will be developed as part of the thesis.
Develop and implement an algorithm for visual localization for event-based cameras. This algorithm will make use of novel features derived from events that will be developed as part of the thesis.