End-to-end learning of object motion estimation from retinal events for event-based object tracking
Document Type
Conference Proceeding
Publication Title
Vol. 34 No. 07: AAAI-20 Technical Tracks 7
Volume
34
Publisher
AAAI Press
School
School of Science
RAS ID
35654
Abstract
Event cameras, which are asynchronous bio-inspired vision sensors, have shown great potential in computer vision and artificial intelligence. However, the application of event cameras to object-level motion estimation or tracking is still in its infancy. The main idea behind this work is to propose a novel deep neural network to learn and regress a parametric object-level motion/transform model for event-based object tracking. To achieve this goal, we propose a synchronous Time-Surface with Linear Time Decay (TSLTD) representation, which effectively encodes the spatio-temporal information of asynchronous retinal events into TSLTD frames with clear motion patterns. We feed the sequence of TSLTD frames to a novel Retinal Motion Regression Network (RMRNet) to perform an end-to-end 5-DoF object motion regression. Our method is compared with state-of-the-art object tracking methods, that are based on conventional cameras or event cameras. The experimental results show the superiority of our method in handling various challenging environments such as fast motion and low illumination conditions.
DOI
10.1609/aaai.v34i07.6625
Access Rights
free_to_read
Comments
Chen, H., Suter, D., Wu, Q., & Wang, H. (2020). End-to-end learning of object motion estimation from retinal events for event-based object tracking. In Vol. 34 No. 07: AAAI-20 Technical Tracks 7 (pp. 10534-10541). AAAI Press. https://doi.org/10.1609/aaai.v34i07.6625