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    SUIVI VISUEL D'OBJET
    5.
    发明公开
    SUIVI VISUEL D'OBJET 审中-公开
    VISUELLE VERFOLGUNG EINES OBJEKTS

    公开(公告)号：EP2989612A1

    公开(公告)日：2016-03-02

    申请号：EP14719329.6

    申请日：2014-04-25

    申请人： Université Pierre et Marie Curie (Paris 6)

    发明人： REGNIER, Stéphane ,  BENOSMAN, Ryad ,  PACORET, Cécile ,  SIOHOI, Ieng ,  ZHENJIANG, Ni

    IPC分类号： G06T7/20

    摘要： The invention relates to a method for visually tracking at least one object represented by a cloud of points to which information is associated, characterised in that said method comprises the following steps: receiving (E1) data representing a set of space-time events; determining (E2) the likelihood that an event from the set belongs to the cloud of points representing the at least one object, for each event of the received set; determining (E3) whether or not an event belongs to the cloud of points depending on the likelihood determined for the event in question, for each event of the received set; updating (E4) the information relating to the cloud of points of the at least one object for each event that was determined to belong to the cloud of points in the preceding step; and calculating (E4, E5) the position, the size and the direction of the at least one object on the basis of the updated information.

    摘要翻译： 用于视觉跟踪由与其相关联的点集合表示的至少一个对象的方法，其特征在于，其包括以下步骤：接收（E1）表示一组时空事件的数据，确定（E2） 集合中的事件属于表示至少一个对象的点集合，对于接收集合中的每个事件，确定（E3）事件是否属于点集合，作为所确定的概率的函数 考虑到对于接收到的集合中的每个事件，对于至少一个对象的点的集群的更新（E4）信息，对于在上一步骤中确定其属于点的集群的每个事件，计算 （E4，E5）作为更新信息的函数的至少一个对象的位置，大小和方向。

    PROCÉDÉ DE SUIVI DE FORME DANS UNE SCÈNE OBSERVÉE PAR UN CAPTEUR ASYNCHRONE DE LUMIÈRE
    6.
    发明公开
    PROCÉDÉ DE SUIVI DE FORME DANS UNE SCÈNE OBSERVÉE PAR UN CAPTEUR ASYNCHRONE DE LUMIÈRE 有权
    EEREN DURCH的VERFAHREN ZUR FORMVERFOLGUNG EINEN ASYNCHRONEN LICHTSENSOR BEOBACHTETEN SZENE

    公开(公告)号：EP3138079A1

    公开(公告)日：2017-03-08

    申请号：EP15725803.9

    申请日：2015-04-24

    申请人： Centre National de la Recherche Scientifique (C.N.R.S.) ,  Université Pierre et Marie Curie (Paris 6)

    发明人： BENOSMAN, Ryad ,  IENG, Siohoi ,  REGNIER, Stéphane ,  ZHENJIANG, Ni

    IPC分类号： G06T7/20 ,  G06T1/00

    摘要： Asynchronous information is provided by a sensor (10) having a matrix of pixels disposed opposite the scene. The asynchronous information comprises, for each pixel of the matrix, successive events (ev(p, t)) originating from this pixel, that may depend on variations of light in the scene. A model representing the tracked shape of an object is updated after detecting events attributed to this object in the asynchronous information. Following the detection of an event, the updating of the model comprises an association of a point of the model with the event detected by minimizing a criterion of distance with respect to the pixel of the matrix from which the detected event originates. The updated model is then determined as a function of the pixel of the matrix from which the detected event originates and attributed to the object and of the associated point in the model, independently of the associations performed before the detection of this event.

    摘要翻译： 异步信息由具有与场景相对设置的像素矩阵的传感器提供。 对于矩阵的每个像素，异步信息包括源自该像素的连续事件，其可以取决于场景中的光的变化。 在异步信息中检测到归因于该对象的事件之后，更新表示对象的跟踪形状的模型。 在检测之后，模型的更新包括模型的点与通过最小化相对于检测到的事件从其起始的矩阵的像素的距离标准而检测的事件的关联。 然后，更新的模型被确定为与检测到的事件之前执行的关联无关的，检测到的事件从该矩阵的像素发起并归因于对象和模型中的关联点的函数。

    METHOD FOR DOWNSAMPLING A SIGNAL OUTPUTTED BY AN ASYNCHRONOUS SENSOR
    7.
    发明公开
    METHOD FOR DOWNSAMPLING A SIGNAL OUTPUTTED BY AN ASYNCHRONOUS SENSOR 审中-公开
    VERFAHREN ZUR HERUNTERTAKTUNG EINES DURCH EINEN ASYNCHRONEN SENSOR AUSGEGEBENEN SIGNALS

    公开(公告)号：EP3120897A1

    公开(公告)日：2017-01-25

    申请号：EP15306193.2

    申请日：2015-07-22

    申请人： Université Pierre et Marie Curie (Paris 6) ,  CENTRE NATIONAL DE LA RECHERCHE SCIENTIFIQUE -CNRS- ,  INSERM (Institut National de la Santé et de la Recherche Médicale)

    发明人： BENOSMAN, Ryad ,  GALLUPI, Francesco ,  CHENEGROS, Guillaume ,  LAGORCE, Xavier ,  Posch, Christoph

    IPC分类号： A61N1/36 ,  G06T5/00

    CPC分类号： A61N1/36046 ,  A61F2/14 ,  G06N3/049 ,  G06N3/063

    摘要： The present invention relates to a method for processing asynchronous signals generated by a light sensor, the sensor having a matrix (100) of pixels, the method comprising:
    - receiving the asynchronous signals (401), each signal being associated with a pixel in a group of pixels (101 a, 102a, 101 b, 102b) in the matrix, each signal comprising successive events issued by the associated pixel ;
    - upon an occurrence of an event in one of the asynchronous signals, updating (405) an integration value associated to said group by adding an additive value to the integration value;
    - if the integration value is greater than a predetermined threshold (406), generating (408) an event in an outputted asynchronous signal.

    摘要翻译： 本发明涉及一种用于处理由光传感器产生的异步信号的方法，该传感器具有一个像素矩阵（100），该方法包括： - 接收异步信号（401），每个信号与一个像素相关联 矩阵中的像素组（101a，102a，101b，102b），每个信号包括由相关联的像素发出的连续事件; - 在所述异步信号之一发生事件时，通过向所述积分值添加相加值来更新（405）与所述组相关联的积分值; - 如果积分值大于预定阈值（406），则产生（408）所输出的异步信号中的事件。

    PROCÉDÉ D'ESTIMATION DE FLOT OPTIQUE À PARTIR D'UN CAPTEUR ASYNCHRONE DE LUMIÈRE
    8.
    发明公开
    PROCÉDÉ D'ESTIMATION DE FLOT OPTIQUE À PARTIR D'UN CAPTEUR ASYNCHRONE DE LUMIÈRE 审中-公开
    方法用于估计光学流为基础的异步LIGHT SENSOR

    公开(公告)号：EP2795580A1

    公开(公告)日：2014-10-29

    申请号：EP12819105.3

    申请日：2012-12-21

    申请人： Université Pierre et Marie Curie (Paris 6) ,  Centre National de la Recherche Scientifique (CNRS)

    发明人： BENOSMAN, Ryad ,  IENG, Siohoi

    IPC分类号： G06T7/20

    摘要： A computer receives asynchronous information originating from a light sensor (10) having a pixel matrix disposed opposite a scene. The asynchronous information comprises, for each pixel of the matrix, successive events originating from this pixel and depending on variations in light in the scene. For a place of estimation (p) in the matrix of pixels and an estimation time (t), the computer selects a set (Sp t) of events originating from pixels included in a spatial neighbourhood (πρ) of the place of estimation and which have occurred in a time interval (Θ) defined with respect to the estimation time, such that this set has at most one event per pixel of the spatial neighbourhood. The computer quantifies the variations in the times of occurrence of the events of the set selected as a function of the positions, in the matrix, of the pixels from which these events originate.

    摘要翻译： 计算机接收异步信息从具有场景相对地设置的像素矩阵的光传感器（10）始发。 异步信息包括，对于矩阵中的每个像素，连续事件从该像素始发和场景DEPENDING ON变化的光。 某个地点中的像素的矩阵，并在估计时间（t）的估计（p）的，该计算机选择事件从地点的包括在空间邻域（.pi p）的像素源自的一组（SP t）的 估计和发生在相对于估计的时间确定的时间间隔（Θ）其中，寻求thatthis组具有每空间邻域的像素的至多一个事件。 计算机量化在该组的选择为在基质中的位置从其中合成起源事件的像素，的函数的事件发生的时间的变化。

    PROCEDE DE RECONSTRUCTION 3D D'UNE SCENE FAISANT APPEL A DES CAPTEURS ASYNCHRONES
    9.
    发明公开
    PROCEDE DE RECONSTRUCTION 3D D'UNE SCENE FAISANT APPEL A DES CAPTEURS ASYNCHRONES 有权
    方法三维重建异步传感器A场景调用

    公开(公告)号：EP2789166A1

    公开(公告)日：2014-10-15

    申请号：EP12798309.6

    申请日：2012-12-10

    申请人： Université Pierre et Marie Curie (Paris 6) ,  Centre National de la Recherche Scientifique

    发明人： BENOSMAN, Ryad ,  CARNEIRO, Joao ,  IENG, Sio-Hoï

    IPC分类号： H04N13/02

    CPC分类号： H04N13/239 ,  H04N13/243 ,  H04N13/296

    摘要： The invention relates to a method of 3D reconstruction of a scene, comprising the implementation of at least two sensors each comprising a series of elementary receivers arranged so as to view the scene according to distinct respective solid angles and which are each sensitive to a physical characteristic of a signal received by said receiver originating from the scene, the sensors each being adapted for emitting an asynchronous stream of events which are each indicative of a modification of the signal received by one of the elementary receivers at a given instant, as well as the implementation of a 3D reconstruction algorithm comprising a step of pairing elementary receivers of each of the sensors utilizing signals generated by the sensors, the pairing consisting in pairing between them events generated by each of the sensors and temporarily close together.