MULTISCALE WEIGHTED MATCHING AND SENSOR FUSION FOR DYNAMIC VISION SENSOR TRACKING

摘要

A dynamic vision sensor (DVS) pose estimation system comprises a sensor fusion-based DVS, a conversion estimator, an inertia measurement unit (IMU), and a camera pose estimator. The DVS detects DVS events and forms frames based on the number of DVS events. The conversion estimator estimates 3D conversion of a DVS camera based on an estimated depth and performs matching of confidence level values in a camera projection model to make at least one of the DVS events, detected during the first frame, correspond to a DVS event detected during the second frame. The IMU detects inertia movements of the DVS with respect to world coordinates between the first frame and second frame. The camera pose estimator combines information from a change of pose of the camera projection model between the first frame and second frame based on the estimated change and detected inertia movements of the DVS.