Event-based stereo matching using semiglobal matching

Author:

Xie Zhen1,Zhang Jianhua1,Wang Pengfei2ORCID

Affiliation:

1. College of Computer Science, Zhejiang University of Technology, Hangzhou, People’s Republic of China

2. Temasek Laboratories, National University of Singapore, Singapore, Singapore

Abstract

In this article, we focus on the problem of depth estimation from a stereo pair of event-based sensors. These sensors asynchronously capture pixel-level brightness changes information (events) instead of standard intensity images at a specified frame rate. So, these sensors provide sparse data at low latency and high temporal resolution over a wide intrascene dynamic range. However, new asynchronous, event-based processing algorithms are required to process the event streams. We propose a fully event-based stereo three-dimensional depth estimation algorithm inspired by semiglobal matching. Our algorithm considers the smoothness constraints between the nearby events to remove the ambiguous and wrong matches when only using the properties of a single event or local features. Experimental validation and comparison with several state-of-the-art, event-based stereo matching methods are provided on five different scenes of event-based stereo data sets. The results show that our method can operate well in an event-driven way and has higher estimation accuracy.

Funder

National Natural Science Foundation of China

Publisher

SAGE Publications

Subject

Artificial Intelligence,Computer Science Applications,Software

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1. Artificial intelligence-based spatio-temporal vision sensors: applications and prospects;Frontiers in Materials;2023-12-07

2. An Event-based Stereo 3D Mapping and Tracking Pipeline for Autonomous Vehicles;2023 IEEE 26th International Conference on Intelligent Transportation Systems (ITSC);2023-09-24

3. Unsupervised Deep Event Stereo for Depth Estimation;IEEE Transactions on Circuits and Systems for Video Technology;2022-11

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5. Learning Local Event-based Descriptor for Patch-based Stereo Matching;2022 International Conference on Robotics and Automation (ICRA);2022-05-23

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