METHOD OF ESTIMATING OPTICAL FLOW ON THE BASIS OF AN ASYNCHRONOUS LIGHT SENSOR

摘要

A computer receives asynchronous information from a light sensor (10) having a pixel array disposed opposite a scene. The asynchronous information comprises, for each pixel of the matrix, successive events originating from this pixel and depending on light variations in the scene. For an estimation site (p) in the pixel matrix and an estimation time (t), the computer selects a set (Sp t) of events originating from pixels included in a spatial neighborhood (p?) Of the place estimation and occurring in a time interval (T) defined with respect to the estimation time, such that this set has at most one event per pixel of the spatial neighborhood. The calculator quantifies the variations of the occurrence times of the events of the selected set as a function of the positions, in the matrix, of the pixels from which these events originate.