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AssigneeUniversitäT ZüRich
InventorsHenri REBECQ, Guillermo GALLEGO BONET, Davide SCARAMUZZA
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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′).
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′).
Computer program for 3D reconstruction of a scene, wherein the computer program comprises program code for conducting the following steps when the computer program is executed on a computer:
Method for localizing an event camera (1) with respect to an existing semi-dense 3D map by registering an event image (I) obtained by the event camera (1) to a template image, wherein the event image (I) is obtained by aggregating a plurality of events (ek) obtained with the event camera (1) into an edge map, and wherein the template image consists of a projected semi-dense 3D map (M) of a scene according to a known pose of the event camera (1), wherein a 6 degrees of freedom relative pose of the event camera (1) is estimated by means of registering the event image (I) to the template image.
Dependencies are inferred from the claim text.