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|Title:||Globally optimal contrast maximisation for event-based motion estimation|
Parra Bustos, Á.
|Citation:||Proceedings / CVPR, IEEE Computer Society Conference on Computer Vision and Pattern Recognition. IEEE Computer Society Conference on Computer Vision and Pattern Recognition, 2020, pp.6348-6357|
|Series/Report no.:||IEEE Conference on Computer Vision and Pattern Recognition|
|Conference Name:||IEEE Conference on Computer Vision and Pattern Recognition (CVPR) (13 Jun 2020 - 19 Jun 2020 : virtual online)|
|Daqi Liu, Álvaro Parra, Tat-Jun Chin|
|Abstract:||Contrast maximisation estimates the motion captured in an event stream by maximising the sharpness of the motion-compensated event image. To carry out contrast maximisation, many previous works employ iterative optimisation algorithms, such as conjugate gradient, which require good initialisation to avoid converging to bad local minima. To alleviate this weakness, we propose a new globally optimal event-based motion estimation algorithm. Based on branch-and-bound (BnB), our method solves rotational (3DoF) motion estimation on event streams, which supports practical applications such as video stabilisation and attitude estimation. Underpinning our method are novel bounding functions for contrast maximisation, whose theoretical validity is rigorously established. We show concrete examples from public datasets where globally optimal solutions are vital to the success of contrast maximisation. Despite its exact nature, our algorithm is currently able to process a 50,000-event input in ≈ 300 seconds (a locally optimal solver takes ≈ 30 seconds on the same input). The potentialfor GPU acceleration will also be discussed.|
|Appears in Collections:||Aurora harvest 4|
Computer Science publications
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