Object detection by use of event-based sensors

A system comprising:

• a scanning arrangement which is operable to sweep one or more light beams in a detection space defines by three space coordinates;
• a plurality of event-based sensors, which are operable to detect scattered light from the detection space, while the one or more light beams are swept in the detection space by the scanning arrangement, and provide a respective data stream of events representing the scattered light detected by a respective event-based sensor among the plurality of event-based sensors;
• and
• a processing arrangement, which is configured to receive the respective data stream of events from the plurality of event-based sensors, said processing arrangement being further configured to:
• determine, based on the respective data stream of events, an ensemble of two-dimensional, 2D, trajectories that each represents a continuous movement of the scattered light on the respective event-based sensor;
• determine, based on ensembles of 2D trajectories determined for the event-based sensors, one or more groups of mutually corresponding 2D trajectories on the plurality of event-based sensors;
• determine, based on the one or more groups of mutually corresponding 2D trajectories, a set of 3D trajectories in the detection space, wherein each of the 3D trajectories defined by a parametric polynomial function of time for each of the space coordinates;
• form an input dataset comprising the set of 3D trajectories;
• and
• operate an object recognition algorithm on the input dataset for detection of one or more objects in the detection space.