基于事件相机的机器人感知与控制综述  

A Survey of Robot Perception and Control Based on Event Camera

作　　者：粟傈 杨帆 王向禹 郭川东 童良乐 胡权[2] SU Li;YANG Fan;WANG Xiang-Yu;GUO Chuan-Dong;TONG Liang-Le;HU Quan(School of Information Engineering,Capital Normal University,Beijing 100048;School of Astronautics,Beijing Institute of Technology,Beijing 100081)

机构地区：[1]首都师范大学信息工程学院,北京100048 [2]北京理工大学宇航学院,北京100081

出　　处：《自动化学报》2022年第8期1869-1889,共21页Acta Automatica Sinica

基　　金：国家自然科学基金(11872011);国防科工局稳定支持科研项目基金(HTKJ2020KL502013)资助。

摘　　要：事件相机作为一种新型动态视觉传感器,通过各个像素点独立检测光照强度变化并异步输出“事件流”信号,具有数据量小、延迟低、动态范围高等优秀特性,给机器人控制带来新的可能.本文主要介绍了近年来涌现的一系列事件相机与无人机、机械臂和人形机器人等机器人感知与运动控制结合的研究成果,同时聚焦基于事件相机的控制新方法、新原理以及控制效果,并指出基于事件相机的机器人控制的应用前景和发展趋势.As a new type of dynamic vision sensor,the event camera detects the change of illumination intensity independently through each pixel and outputs the“event stream”signal asynchronously.It has excellent characteristics such as small amount of data,low latency and high dynamic range,which brings new possibilities for robot control.In this survey,a series of the latest research results on the combination of event camera and robot perception and motion control,including unmanned aerial vehicles,manipulators and humanoid robots,are introduced.At the same time,the new control methods,new principles and control effects based on event camera are focused,and the application prospect and development trend of robot control based on event camera are pointed out.

关 键 词：事件相机 延迟低 机器人控制 感知与运动 新型控制算法 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]