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ESPEE: Event-Based Sensor Pose Estimation Using an Extended Kalman Filter
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DOI：10.3390/s21237840.png)
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摘要
En 中文
Event-based vision sensors show great promise for use in embedded applications requiring low-latency passive sensing at a low computational cost. In this paper, we present an event-based algorithm that relies on an Extended Kalman Filter for 6-Degree of Freedom sensor pose estimation. The algorithm updates the sensor pose event-by-event with low latency (worst case of less than 2 mu s on an FPGA). Using a single handheld sensor, we test the algorithm on multiple recordings, ranging from a high contrast printed planar scene to a more natural scene consisting of objects viewed from above. The pose is accurately estimated under rapid motions, up to 2.7 m/s. Thereafter, an extension to multiple sensors is described and tested, highlighting the improved performance of such a setup, as well as the integration with an off-the-shelf mapping algorithm to allow point cloud updates with a 3D scene and enhance the potential applications of this visual odometry solution.
Keyword:
event-based sensor
visual odometry
extended Kalman filter
computer vision
structureless measurement model
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IF:
3.5
论文数:
7.2W
被引数:
20.9W
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