Method of processing information from an event-based sensor

A computer-readable medium having computer code stored thereon for execution in a processor coupled with an event-based sensor, the program code being adapted, when executed by the processor, to process information from an event-based sensor, the event-based sensor having an array of pixels facing a scene and the information including events originating from the pixels depending on variations of incident light from the scene, wherein processing the information comprises:

• storing a data structure for a set of pixels of the array, the data structure including, for each pixel of the set, event data associated with at least one most recent event originating from said pixel;
• and
• upon receiving a current event from a first pixel of the array;
• retrieving any event data included in the data structure for a group of pixels including the first pixel and a plurality of second pixels adjacent to the first pixel in the array;
• and
• labeling the current event based on at least one connectivity criterion between the current event and the at least one most recent event originating from a pixel of said group,
• wherein the at least one connectivity criterion between the current event and a most recent event originating from a pixel of said group comprises at least one criterion selected among:
• a criterion involving a polarity of the current event and a polarity of the most recent event originating from said pixel of the group, which polarity of the most recent event forming part of the event data included in the data structure for said pixel;
• a criterion involving a flickering frequency estimated for the current event and an estimated flickering frequency for the most recent event originating from said pixel of the group, which estimated flickering frequency for the most recent event forming part of the event data included in the data structure for said pixel;
• a criterion involving estimated visual flow data for the current event and estimated visual flow data for the most recent event originating from said pixel of the group, which estimated visual flow data for the most recent event forming part of the event data included in the data structure for said pixel;
• a criterion involving an estimated depth or stereo disparity value for the current event and an estimated depth or stereo disparity value for the most recent event originating from said pixel of the group, which estimated depth or stereo disparity value for the most recent event forming part of the event data included in the data structure for said pixel;
• a criterion involving a difference of luminance between the current event and the most recent event originating from said pixel of the group, a luminance value of the most recent event forming part of the event data included in the data structure for said pixel;
• a criterion involving a semantic ID of the current event and a semantic ID of the most recent event originating from said pixel of the group, which semantic ID of the most recent event forming part of the event data included in the data structure for said pixel.