基于事件相机的定位与建图算法:综述

Event-based Visual Localization and Mapping Algorithms:A Survey

事件相机是一种新兴的视觉传感器,通过检测单个像素点光照强度的变化来产生"事件".基于其工作原理,事件相机拥有传统相机所不具备的低延迟、高动态范围等优良特性.而如何应用事件相机来完成机器人的定位与建图则是目前视觉定位与建图领域新的研究方向.本文从事件相机本身出发,介绍事件相机的工作原理、现有的定位与建图算法以及事件相机相关的开源数据集.其中,本文着重对现有的、基于事件相机的定位与建图算法进行详细的介绍和优缺点分析.

Event-based camera is a new type of visual sensor,which activates“events”by monitoring the changes of lighting intensity.Event camera offers low-latency output and tolerates high dynamic range,therefore,it is a new topic in the SLAM area applying event-based camera to robot localization and mapping.This work introduces the working principle of event-based camera and reviews present algorithms and dataset of event-based localization and mapping.Emphasis of this work is introducing and analysing event-based localization and mapping algorithms.