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公开(公告)号：EP3679549A1
公开(公告)日：2020-07-15
申请号：EP18759973.3
申请日：2018-09-03
申请人： Universität Zürich
发明人： REBECQ, Henri , SCARAMUZZA, Davide
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公开(公告)号：EP3504682A1
公开(公告)日：2019-07-03
申请号：EP17765098.3
申请日：2017-08-24
申请人： Universität Zürich
IPC分类号： G06T7/579
摘要： The invention relates to a method for 3D reconstruction of a scene, wherein an event camera (1) is moved on a trajectory (T) along the scene, wherein the event camera (1) comprises a plurality of pixels that are configured to only output events (ek) in presence of brightness changes in the scene at the time (tk) they occur, wherein each event comprises the time (tk) at which it occurred, an address (xk,yk) of the respective pixel that detected the brightness change, as well as a polarity value (pk) indicating the sign of the brightness change, wherein a plurality of successive events generated by the event camera (1) along said trajectory (T) are back-projected according to the viewpoint (P) of the event camera (1) as viewing rays (R) through a discretized volume (DSI) at a reference viewpoint (RV) of a virtual event camera associated to said plurality of events, wherein said discretized volume (DSI) comprises voxels (V′), and wherein a score function ƒ(X) associated to the discretized volume (DSI) is determined, which score function ƒ(X) is the number of back-projected viewing rays (R) that pass through the respective voxel (V′) with center X, and wherein said score function ƒ(X) is used to determine whether or not a 3D point of the 3D reconstruction of the scene is present in the respective voxel (V′).
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公开(公告)号：EP3504682B1
公开(公告)日：2020-07-15
申请号：EP17765098.3
申请日：2017-08-24
申请人： Universität Zürich
IPC分类号： G06T7/579
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公开(公告)号：EP3451288A1
公开(公告)日：2019-03-06
申请号：EP17189223.5
申请日：2017-09-04
申请人： Universität Zürich
摘要： The invention relates a method for generating a motion-corrected image for visual-inertial odometry comprising an event camera rigidly connected to an inertial measurement unit (IMU), wherein the event camera comprises pixels arranged in an image plane that are configured to output events in presence of brightness changes in a scene at the time they occur, wherein each event comprises the time at which it is recorded and a position of the respective pixel that detected the brightness change, the method comprising the steps of: Acquiring at least one set of events ( S ), wherein the at least one set ( S ) comprises a plurality of subsequent events ( e ); Acquiring IMU data ( D ) for the duration of the at least one set ( S ); Generating a motion-corrected image from the at least one set ( S ) of events (e), wherein the motion-corrected image is obtained by assigning the position ( x j ) of each event ( e j ) recorded at its corresponding event time ( t j ) at an estimated event camera pose ( T t j ) to an adjusted event position x j ′ , wherein the adjusted event position x j ′ is obtained by determining the position of the event ( e j ) for an estimated reference camera pose T t k f at a reference time t k f , wherein the estimated camera pose ( T t j ) at the event time ( t j ) and the reference camera pose T t k f at the reference time t k f are estimated by means of the IMU data ( D ).
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