FOE-based regularization for optical flow estimation from an in-vehicle event camera

Jun Nagata, Yusuke Sekikawa, Kosuke Hara, Yoshimitsu Aoki

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Abstract

    Optical flow estimation in onboard cameras is an important task in automatic driving and advanced driver- assistance systems. However, there is a problem that calculation is mistakable with high contrast and high speed. Event cameras have great features such as high dynamic range and low latency that can overcome these problems. Event cameras report only the change in the logarithmic intensity per pixel rather than the absolute brightness. There is a method of estimating the optical ow simultaneously with the luminance restoration from the event data. The regularization using the L1 norm of differentiation is insufficient for spatially sparse event data. Therefore, we propose to use the focus of expansion (FOE) for regularization of optical ow estimation in event camera. The FOE is defined as the intersection of the translation vector of the camera and the image plane. The optical ow becomes radial from the FOE excluding the rotational component. Using the property, the optical ow can be regularized in the correct direction in the optimization process. We demonstrated that the optical ow was improved by introducing our regularization using the public dataset.

    Original languageEnglish
    Title of host publicationInternational Workshop on Advanced Image Technology, IWAIT 2019
    EditorsQian Kemao, Yung-Lyul Lee, Kazuya Hayase, Phooi Yee Lau, Wen-Nung Lie, Lu Yu, Sanun Srisuk
    PublisherSPIE
    ISBN (Electronic)9781510627734
    DOIs
    Publication statusPublished - 2019 Jan 1
    EventInternational Workshop on Advanced Image Technology 2019, IWAIT 2019 - Singapore, Singapore
    Duration: 2019 Jan 62019 Jan 9

    Publication series

    NameProceedings of SPIE - The International Society for Optical Engineering
    Volume11049
    ISSN (Print)0277-786X
    ISSN (Electronic)1996-756X

    Conference

    ConferenceInternational Workshop on Advanced Image Technology 2019, IWAIT 2019
    CountrySingapore
    CitySingapore
    Period19/1/619/1/9

    Keywords

    • Event camera
    • Focus of expansion
    • Optical ow

    ASJC Scopus subject areas

    • Electronic, Optical and Magnetic Materials
    • Condensed Matter Physics
    • Computer Science Applications
    • Applied Mathematics
    • Electrical and Electronic Engineering

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  • Cite this

    Nagata, J., Sekikawa, Y., Hara, K., & Aoki, Y. (2019). FOE-based regularization for optical flow estimation from an in-vehicle event camera. In Q. Kemao, Y-L. Lee, K. Hayase, P. Y. Lau, W-N. Lie, L. Yu, & S. Srisuk (Eds.), International Workshop on Advanced Image Technology, IWAIT 2019 [110492V] (Proceedings of SPIE - The International Society for Optical Engineering; Vol. 11049). SPIE. https://doi.org/10.1117/12.2521520