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US 10,948,297 B2Granted
Simultaneous location and mapping (SLAM) using dual event cameras
AssigneeSamsung Electronics Co., Ltd.
InventorsSebastien Derhy, Lior Zamir, Nathan Henri Levy
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Abstract
A method for simultaneous localization and mapping (SLAM) employs dual event-based cameras. Event streams from the cameras are processed by an image processing system to stereoscopically detect surface points in an environment, dynamically compute pose of a camera as it moves, and concurrently update a map of the environment. A gradient descent based optimization may be utilized to update the pose for each event or for each small batch of events.
Claims20
A method for simultaneous localization and mapping (SLAM), comprising:
- receiving, from first and second image sensors, first and second event streams, respectively, each comprising a plurality of event packets indicating asynchronous events corresponding to points of surfaces in an environment, wherein the first and second image sensors are arranged with overlapping fields of view, wherein a number of asynchronous events is controlled in event frame units and the event frame is formed by the movement of the first and second image sensors;
- computing depths of the points represented by the first event stream based on relative pixel locations of common points represented by the second event stream;
- and
- dynamically computing a pose of at least the first image sensor with respect to a reference element in the environment, and updating a map of the environment, based at least on the points represented by the first event stream and the computed depths thereof.
1 more element
A simultaneous localization and mapping (SLAM) system comprising:
- a first image sensor that provides a first event stream of event packets indicating asynchronous events corresponding to points of surfaces in an environment;
- a second image sensor arranged to have an overlapping field of view with that of the first image sensor and providing a second event stream of event packets indicating asynchronous events corresponding to points of surfaces in the environment;
- an image processing system comprising at least one processor that executes instructions read from a memory to:
- compute depths from the first and second image sensors stereoscopically based on points of matching features represented by the first and second event streams;
- and
- dynamically compute a pose of at least the first image sensor with respect to a reference element in the environment, and update a map of the environment, based at least on the points of matching features represented by the first event stream and the computed depths thereof,
- wherein a number of asynchronous events is controlled in event frame units and the event frame is formed by the movement of the first and second image sensors.
4 more elements
Dependencies are inferred from the claim text.