Method and system for adaptive corner detection using dynamic vision sensors
AssigneeCity University of Hong Kong
InventorsArindam Basu, Pao-Sheng Vincent Sun
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Abstract
A method for adaptive corner detection is provided. The method includes: obtaining one or more event data from a dynamic vision sensor; capturing and organizing a plurality of recorded events of the event data into a 2D array; transforming the 2D array into one or a plurality of Ordered Surface (OS) matrices by populating one or a plurality of empty Image Matrices with the recorded events based on their coordinates and assigning order values; and applying a corner detector to the OS matrices. A system for adaptive corner detection is also provided.
Claims13
A method for adaptive corner detection in machine vision, comprising:
- obtaining one or more event data from a dynamic vision sensor;
- capturing and arranging, by a machine vision processor, a plurality of recorded events of the event data into a 2D array, wherein entries of the 2D array store pixel coordinates of respective recorded events without storing timestamps as entry values, and the entries of the 2D array are arranged in global temporal ordering to preserve a temporal order of the recorded events such that the 2D array has an array dimension being smaller than the dynamic vision sensor's pixel array dimension;
- transforming, by the machine vision processor the 2D array into one or a plurality of ordered surface matrices by populating one or a plurality of empty image matrices with the recorded events based on the stored pixel coordinates and assigning order values indicating the temporal order of the recorded events;
- applying, by the machine vision processor, a corner detector to the ordered surface matrices;
- and
- outputting a corner detection result from the corner detector.
A system for adaptive corner detection in machine vision, comprising:
- a dynamic vision sensor;
- and
- a machine vision processor electrically connected to the dynamic vision sensor;
- wherein the machine vision processor is configured to:
- obtain one or more event data from the dynamic vision sensor;
- capture and arrange a plurality of recorded events of the event data into a 2D array, wherein entries of the 2D array store pixel coordinates of respective recorded events without storing timestamps as entry values, and the entries of the 2D array are arranged in global temporal ordering to preserve a temporal order of the recorded events such that the 2D array has an array dimension smaller being than the dynamic vision sensor's pixel array dimension;
- transform the 2D array into one or a plurality of ordered surface matrices by populating one or a plurality of empty image matrices with the recorded events based on the stored pixel coordinates and assigns order values indicating the temporal order of the recorded events;
- and
- apply a corner detector to the Order Surface matrices to output a corner detection result.
Dependencies are inferred from the claim text.