Device for compensating movement of an event-driven sensor and associated observation system and method

A compensation device for compensating the movement of an event-driven sensor in an event stream generated within a time interval, called the initial event stream, the initial event stream being generated by the event-driven sensor upon observation of an environment in the time interval, the event-driven sensor comprising:

• pixels, each pixel being adapted to generate an initial event of the initial event stream, and
• a reader unit, the reader unit being adapted to generate information representing each initial event in the form of a first plurality of information fields in a first space, the first plurality of information fields comprising:
• a first information field corresponding to the address of the pixel that generated the initial event and
• a second information field corresponding to the time of generation of the event by the pixel that generated the initial event,
• the compensation device comprising:
• a projection unit, the projection unit being adapted to:
• project the initial event stream from the first space to a second space using a projection function to obtain a projected event stream, the projected event stream being a set of projected events, each projected event being associated with a set of initial events from a respective pixel group,
• the projection unit projecting the initial event stream into the second space so that a ratio of the number of initial events in the initial event stream to the number of projected events in the projected event stream is strictly superior to 1,
• generate information representing each projected event as a plurality of information fields in the second space, the second plurality of information fields comprising:
• a first information field corresponding to the address of a pixel associated with the projected event,
• a second information field being a moment characteristic of the projected event, and
• a third information field being a value relating to the set of initial events with which the projected event is associated, and
• a compensation unit, the compensation unit being adapted to receive measurements of the movement of the event-driven sensor during the time interval, and adapted to apply a compensation technique to the projected event stream in dependence on the received measurements to obtain a compensated event stream in the time interval.