[go: up one dir, main page]
More Web Proxy on the site http://driver.im/
Skip to main content

A Color Event-Based Camera Emulator for Robot Vision

  • Conference paper
  • First Online:
Robotics, Computer Vision and Intelligent Systems (ROBOVIS 2024)

Abstract

Event-based cameras are becoming increasingly popular due to their asynchronous spatial-temporal information, high temporal resolution, power efficiency, and high dynamic range advantages. Despite these benefits, the adoption of these sensors has been hindered, mainly due to their high cost. While prices are decreasing and commercial options exist, researchers and developers face barriers to addressing the potential of event-based vision, especially with more specialized models. Although accurate event-based simulators and emulators exist, their primary limitation lies in their inability to operate in real-time and in that they are designed only for grey-scale video streams. This limitation creates a gap between theoretical exploration and practical application, hindering the seamless integration of event-based systems into real-world applications, especially in robotics. Moreover, the importance of color information is well recognized for many tasks, and most existing event-based cameras do not handle color information, except for a few exceptions. To address this challenge, we propose a ROS-based color event camera emulator to aid in reducing the gap between the real-world applicability of event-based color cameras by presenting its software design and implementation. Finally, we present a preliminary evaluation to demonstrate its performance.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Subscribe and save

Springer+ Basic
£29.99 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Chapter
GBP 19.95
Price includes VAT (United Kingdom)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
GBP 79.50
Price includes VAT (United Kingdom)
  • Available as EPUB and PDF
  • Read on any device
  • Instant download
  • Own it forever
Softcover Book
GBP 109.99
Price includes VAT (United Kingdom)
  • Compact, lightweight edition
  • Dispatched in 3 to 5 business days
  • Free shipping worldwide - see info

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Similar content being viewed by others

References

  1. Event camera - airsim (2021). https://microsoft.github.io/AirSim/event_sim/

  2. Mist lab collected events with event-based cameras (2023). https://github.com/MISTLab/event_based_data

  3. Almatrafi, M., Baldwin, R., Aizawa, K., Hirakawa, K.: Distance surface for event-based optical flow. IEEE Trans. Pattern Anal. Mach. Intell. 42(7), 1547–1556 (2020)

    Article  Google Scholar 

  4. Bajestani, S.E.M., Beltrame, G.: Event-based RGB sensing with structured light. In: Proceedings of the IEEE/CVF Winter Conference on Applications of Computer Vision (WACV), pp. 5458–5467 (2023)

    Google Scholar 

  5. Brandli, C., Berner, R., Yang, M., Liu, S.C., Delbruck, T.: A 240\(\times \) 180 130 db 3 \(\mu \)s latency global shutter spatiotemporal vision sensor. IEEE J. Solid-State Circ. 49(10), 2333–2341 (2014)

    Article  Google Scholar 

  6. Buber, E., Diri, B.: Performance analysis and CPU vs GPU comparison for deep learning. In: 2018 6th International Conference on Control Engineering & Information Technology (CEIT), pp. 1–6 (2018)

    Google Scholar 

  7. Finlayson, G.D.: Colour and illumination in computer vision. Interface focus 8(4), 20180008 (2018)

    Article  Google Scholar 

  8. Furmonas, J., Liobe, J., Barzdenas, V.: Analytical review of event-based camera depth estimation methods and systems. Sensors 22(3), 1201 (2022)

    Article  Google Scholar 

  9. Gallego, G., et al.: Event-based vision: a survey. IEEE Trans. Pattern Anal. Mach. Intell. 44(1), 154–180 (2022)

    Article  Google Scholar 

  10. Gehrig, M., Aarents, W., Gehrig, D., Scaramuzza, D.: Dsec: a stereo event camera dataset for driving scenarios. IEEE Robot. Autom. Lett. 6(3), 4947–4954 (2021)

    Article  Google Scholar 

  11. Gowda, S.N., Yuan, C.: ColorNet: investigating the importance of color spaces for image classification. In: Jawahar, C., Li, H., Mori, G., Schindler, K. (eds.) ACCV 2018. LNCS, pp. 581–596. Springer, Cham (2019). https://doi.org/10.1007/978-3-030-20870-7_36

    Chapter  Google Scholar 

  12. Hu, Y., Liu, S.C., Delbruck, T.: v2e: From video frames to realistic DVS events. In: 2021 IEEE/CVF Conference on Computer Vision and Pattern Recognition Workshops (CVPRW), pp. 1312–1321 (2021)

    Google Scholar 

  13. Kaiser, J., et al.: Towards a framework for end-to-end control of a simulated vehicle with spiking neural networks. In: 2016 IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots, pp. 127–134 (2016)

    Google Scholar 

  14. Kalluri, T., Pathak, D., Chandraker, M., Tran, D.: Flavr: flow-free architecture for fast video frame interpolation. Mach. Vis. Appl. 34(5), 83 (2023)

    Article  Google Scholar 

  15. Kessler, C., et al.: Programmability and performance portability aspects of heterogeneous multi-/manycore systems. In: 2012 Design, Automation & Test in Europe Conference & Exhibition (DATE), pp. 1403–1408 (2012)

    Google Scholar 

  16. Li, C., et al.: Design of an RGBW color VGA rolling and global shutter dynamic and active-pixel vision sensor. In: 2015 IEEE International Symposium on Circuits and Systems (ISCAS), pp. 718–721. IEEE (2015)

    Google Scholar 

  17. Lichtsteiner, P., Posch, C., Delbruck, T.: A 128\(\times \)128 120 db 15 \(\mu s\) latency asynchronous temporal contrast vision sensor. IEEE J. Solid-State Circ. 43, 566–576 (2008)

    Article  Google Scholar 

  18. Long, X., Gong, X., Zhang, B., Zhou, H.: Deep learning based data prefetching in CPU-GPU unified virtual memory. J. Parallel Distrib. Comput. 174, 19–31 (2023)

    Article  Google Scholar 

  19. Marcireau, A., Ieng, S.H., Simon-Chane, C., Benosman, R.B.: Event-based color segmentation with a high dynamic range sensor. Front. Neurosci. 12, 317614 (2018)

    Article  Google Scholar 

  20. Moeys, D.P., et al.: A sensitive dynamic and active pixel vision sensor for color or neural imaging applications. IEEE Trans. Biomed. Circuits Syst. 12(1), 123–136 (2017)

    Article  Google Scholar 

  21. Niklaus, S., Mai, L., Liu, F.: Video frame interpolation via adaptive convolution. In: 2017 IEEE Conference on Computer Vision and Pattern Recognition (CVPR), pp. 2270–2279 (2017)

    Google Scholar 

  22. Nikolić, G.S., Dimitrijević, B.R., Nikolić, T.R., Stojcev, M.K.: A survey of three types of processing units: CPU, GPU and TPU. In: 2022 57th International Scientific Conference on Information, Communication and Energy Systems and Technologies (ICEST), pp. 1–6 (2022)

    Google Scholar 

  23. Quigley, M., et al.: ROS: an open-source robot operating system. In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) Workshop on Open Source Robotics. Kobe, Japan (2009)

    Google Scholar 

  24. Rebecq, H., Gehrig, D., Scaramuzza, D.: ESIM: an open event camera simulator. In: Billard, A., Dragan, A., Peters, J., Morimoto, J. (eds.) Proceedings of The 2nd Conference on Robot Learning. Proceedings of Machine Learning Research, vol. 87, pp. 969–982. PMLR (2018)

    Google Scholar 

  25. Sawant, A., Saha, A., Khoussine, J., Sinha, R., Hoon, M.: New insights into retinal circuits through EM connectomics: what we have learnt and what remains to be learned. Front. Ophthalmol. 3, 1168548 (2023)

    Article  Google Scholar 

  26. Shah, P., Rathod, S.S.: Review of bio-inspired silicon retina: from cell to system level implementation. In: 2021 International Conference on Communication information and Computing Technology (ICCICT), pp. 1–13. IEEE (2021)

    Google Scholar 

  27. Shah, S., Dey, D., Lovett, C., Kapoor, A.: Airsim: high-fidelity visual and physical simulation for autonomous vehicles. In: Hutter, M., Siegwart, R. (eds.) Field and Service Robotics. Springer Proceedings in Advanced Robotics, vol. 5, pp. 621–635. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-67361-5_40

    Chapter  Google Scholar 

  28. Skorych, V., Dosta, M.: Parallel CPU-GPU computing technique for discrete element method. Concurrency Comput. Pract. Experience 34(11), e6839 (2022)

    Article  Google Scholar 

  29. Taverni, G., et al.: Front and back illuminated dynamic and active pixel vision sensors comparison. IEEE Trans. Circ. Syst. II Express Briefs 65(5), 677–681 (2018)

    Google Scholar 

  30. Zhu, A.Z., Thakur, D., Özaslan, T., Pfrommer, B., Kumar, V., Daniilidis, K.: The multivehicle stereo event camera dataset: an event camera dataset for 3D perception. IEEE Robot. Autom. Lett. 3(3), 2032–2039 (2018)

    Article  Google Scholar 

Download references

Acknowledgement

This work was partly supported by the Programa de Equipamiento Científico y Tecnológico, ANID, Chile (FONDEQUIP) Project under Grant EQM170041.

Author information

Authors and Affiliations

Authors

Corresponding author

Correspondence to Rodrigo Verschae .

Editor information

Editors and Affiliations

Rights and permissions

Reprints and permissions

Copyright information

© 2024 The Author(s), under exclusive license to Springer Nature Switzerland AG

About this paper

Check for updates. Verify currency and authenticity via CrossMark

Cite this paper

Bugueno-Cordova, I., Campusano, M., Guaman-Rivera, R., Verschae, R. (2024). A Color Event-Based Camera Emulator for Robot Vision. In: Filipe, J., Röning, J. (eds) Robotics, Computer Vision and Intelligent Systems. ROBOVIS 2024. Communications in Computer and Information Science, vol 2077. Springer, Cham. https://doi.org/10.1007/978-3-031-59057-3_24

Download citation

  • DOI: https://doi.org/10.1007/978-3-031-59057-3_24

  • Published:

  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-031-59056-6

  • Online ISBN: 978-3-031-59057-3

  • eBook Packages: Computer ScienceComputer Science (R0)

Publish with us

Policies and ethics