Year: 2022
Author: Scaramuzza
- event based camera for future helicopter mars mission
- event: 1MHz rate, enable operation in high dynamic range, low light
- estimation backend must deal with depth uncertainty because of hoovering and rotation only scenarios => filter based approach are better suited => EKF solution
- FAST/KLT tracking is optimized for frame inputs -> suboptimal for event based cameras
- state vector: sliding window of M camera poses + N SLAM features parametrized with anchor 2D pose and inverse depth
- EKLT:
- tracks Harris corners
- optimise warping and flow on an aggregation of event in a patch
- synchronize evry time 3200 events are triggered
- outlier rejection with residual thresh
- Limitation in computationnal performance: it is not real time capable
- In cave scenario, just non divergence is shown
Papier assez décevant, il reste du boulot à faire