论文标题
使用事件相机检测二进制方形基准标记
Detection of Binary Square Fiducial Markers Using an Event Camera
论文作者
论文摘要
事件摄像机是一种新型的图像传感器，其输出在光强度（事件）而不是绝对强度值中变化。它们具有很高的时间分辨率和高动态范围。在本文中，我们提出了一种使用事件摄像机检测和解码二进制方形标记的方法。我们通过检测由当前数据包中事件创建的图像中的线段来检测标记的边缘。将线段组合在一起以形成标记候选物。使用边界上的事件对标记单元的位值进行解码。据我们所知，没有其他方法可以直接使用CPU实时从事件摄像机中检测正方形二进制标记。实验结果表明，我们的提案的性能优于RGB Aruco标记探测器的提案。提出的方法可以在单个CPU线程上实现实时性能。
Event cameras are a new type of image sensors that output changes in light intensity (events) instead of absolute intensity values. They have a very high temporal resolution and a high dynamic range. In this paper, we propose a method to detect and decode binary square markers using an event camera. We detect the edges of the markers by detecting line segments in an image created from events in the current packet. The line segments are combined to form marker candidates. The bit value of marker cells is decoded using the events on their borders. To the best of our knowledge, no other approach exists for detecting square binary markers directly from an event camera using only the CPU unit in real-time. Experimental results show that the performance of our proposal is much superior to the one from the RGB ArUco marker detector. The proposed method can achieve the real-time performance on a single CPU thread.
