Asynchronous Event-Based Multikernel Algorithm for High-Speed Visual Features Tracking

Xavier Lagorce 1 Cédric Meyer 1 Sio-Hoi Ieng 1 David Filliat 2, 3 Ryad Benosman 1
3 Flowers - Flowing Epigenetic Robots and Systems
Inria Bordeaux - Sud-Ouest, U2IS - Unité d'Informatique et d'Ingénierie des Systèmes
Abstract : This paper presents a number of new methods for visual tracking using the output of an event-based asynchronous neuromorphic dynamic vision sensor. It allows the tracking of multiple visual features in real-time, achieving an update rate of several hundred kilohertz on a standard desktop PC. The approach has been specially adapted to take advantage of the event-driven properties of these sensors by combining both spatial and temporal correlations of events in an asynchronous iterative framework. Various kernels, such as Gaussian, Gabor, combinations of Gabor functions and arbitrary user-defined kernels are used to track features from incoming events. The trackers described in this paper are capable of handling variations in position, scale and orientation through the use of multiple pools of trackers. This approach avoids the NxN operations per event associated with conventional kernel-based convolution operations with N x N kernels. The tracking performance was evaluated experimentally for each type of kernel in order to demonstrate the robustness of the proposed solution.
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Xavier Lagorce, Cédric Meyer, Sio-Hoi Ieng, David Filliat, Ryad Benosman. Asynchronous Event-Based Multikernel Algorithm for High-Speed Visual Features Tracking. IEEE Transactions on Neural Networks and Learning Systems, IEEE, 2014, pp.1-12. ⟨10.1109/TNNLS.2014.2352401⟩. ⟨hal-01069808⟩

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