Simultaneous localization and mapping (SLAM) using dual event cameras

A method for simultaneous localization and mapping (SLAM) employs dual event-based cameras. Event streams from the cameras are processed by an image processing system to stereoscopically detect surface points in an environment, dynamically compute pose of a camera as it moves, and concurrently updat...

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Bibliographische Detailangaben
Hauptverfasser:	Zamir, Lior, Derhy, Sebastien, Levy, Nathan Henri
Format:	Patent
Sprache:	eng
Schlagworte:	CALCULATING COMPUTING COUNTING DIAGNOSIS GYROSCOPIC INSTRUMENTS HUMAN NECESSITIES HYGIENE IDENTIFICATION IMAGE DATA PROCESSING OR GENERATION, IN GENERAL MEASURING MEASURING DISTANCES, LEVELS OR BEARINGS MEDICAL OR VETERINARY SCIENCE NAVIGATION PHOTOGRAMMETRY OR VIDEOGRAMMETRY PHYSICS SURGERY SURVEYING TESTING
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Beschreibung
Zusammenfassung:	A method for simultaneous localization and mapping (SLAM) employs dual event-based cameras. Event streams from the cameras are processed by an image processing system to stereoscopically detect surface points in an environment, dynamically compute pose of a camera as it moves, and concurrently update a map of the environment. A gradient descent based optimization may be utilized to update the pose for each event or for each small batch of events.