Event camera denoising method based on space-time density

The invention discloses an event camera denoising method based on space-time density. The event camera denoising method comprises the following steps: (1) acquiring an original event stream; (2) the event streams are grouped according to the fixed number of events, and a time neighborhood threshold value is calculated; (3) judging whether the newly arrived event is noise or not according to the time-space characteristics of the arrived event; and (4) establishing a density matrix to remove noise of the initial part of the event stream. According to the method, by utilizing the characteristics of strong space-time correlation and large density between effective events and weak space-time correlation and small density between noise events, the newly arrived events are filtered one by one to complete noise reduction of the event stream, meanwhile, the time resolution of the events is better reserved, and the problems that an existing event stream noise reduction method is complex in calculation and high in noise