Adaptive Unsupervised Learning-Based 3D Spatiotemporal Filter for Event-Driven Cameras  

作　　者：Meriem Ben Miled Wenwen Liu Yuanchang Liu 

机构地区：[1]Department of Mechanical Engineering,University College London,London,UK [2]School of Automation,Nanjing University of Information,Science and Technology,Nanjing,China

出　　处：《Research》2024年第4期579-595,共17页研究(英文)

基　　金：supported in part by the Research Grant from The Royal Society(RGS-R2-212343);The Mechanical Engineering Department at University College London,and Nanjing Science and Technology Innovation Project for Returned Scholars(R2022LZ01).

摘　　要：In the evolving landscape of robotics and visual navigation,event cameras have gained important traction,notably for their exceptional dynamic range,efficient power consumption,and low latency.Despite these advantages,conventional processing methods oversimplify the data into 2 dimensions,neglecting critical temporal information.To overcome this limitation,we propose a novel method that treats events as 3D time-discrete signals.Drawing inspiration from the intricate biological filtering systems inherent to the human visual apparatus,we have developed a 3D spatiotemporal filter based on unsupervised machine learning algorithm.This filter effectively reduces noise levels and performs data size reduction,with its parameters being dynamically adjusted based on population activity.This ensures adaptability and precision under various conditions,like changes in motion velocity and ambient lighting.In our novel validation approach,we first identify the noise type and determine its power spectral density in the event stream.We then apply a one-dimensional discrete fast Fourier transform to assess the filtered event data within the frequency domain,ensuring that the targeted noise frequencies are adequately reduced.Our research also delved into the impact of indoor lighting on event stream noise.Remarkably,our method led to a 37%decrease in the data point cloud,improving data quality in diverse outdoor settings.

关 键 词：LIGHTING OVERCOME gained 

分 类 号：TP3[自动化与计算机技术—计算机科学与技术]