Event cameras are ideally suited to capture High Dynamic Range (HDR) visual information without blur but provide poor imaging capability for static or slowly varying scenes. Conversely, conventional image sensors measure absolute intensity of slowly changing scenes effectively but do poorly on HDR or quickly changing scenes. In this paper, we present an asynchronous linear filter architecture, fusing event and frame camera data, for HDR video reconstruction and spatial convolution that exploits the advantages of both sensor modalities. The key idea is the introduction of a state that directly encodes the integrated or convolved image information and that is updated asynchronously as each event or each frame arrives from the camera. The state can be read-off as-often-as and whenever required to feed into subsequent vision modules for real-time robotic systems. Our experimental results are evaluated on both publicly available datasets with challenging lighting conditions and fast motions, along with a new dataset with HDR reference that we provide. The proposed AKF pipeline outperforms other state-of-the-art methods in both absolute intensity error (69.4% reduction) and image similarity indexes (average 35.5% improvement). We also demonstrate the integration of image convolution with linear spatial kernels Gaussian, Sobel, and Laplacian as an application of our architecture.

Event-based cameras measure intensity changes (called 'events') with microsecond accuracy under high-speed motion and challenging lighting conditions. With the 'active pixel sensor' (APS), the 'Dynamic and Active-pixel Vision Sensor' (DAVIS) allows the simultaneous output of intensity frames and events. However, the output images are captured at a relatively low frame rate and often suffer from motion blur. A blurred image can be regarded as the integral of a sequence of latent images, while events indicate changes between the latent images. Thus, we are able to model the blur-generation process by associating event data to a latent sharp image. Based on the abundant event data alongside a low frame rate, easily blurred images, we propose a simple yet effective approach to reconstruct high-quality and high frame rate sharp videos. Starting with a single blurred frame and its event data from DAVIS, we propose the Event-based Double Integral (EDI) model and solve it by adding regularization terms. Then, we extend it to multiple Event-based Double Integral (mEDI) model to get more smooth results based on multiple images and their events. Furthermore, we provide a new and more efficient solver to minimize the proposed energy model. By optimizing the energy function, we achieve significant improvements in removing blur and the reconstruction of a high temporal resolution video. The video generation is based on solving a simple non-convex optimization problem in a single scalar variable. Experimental results on both synthetic and real datasets demonstrate the superiority of our mEDI model and optimization method compared to the state-of-the-art.

Event cameras are ideally suited to capture HDR visual information without blur but perform poorly on static or slowly changing scenes. Conversely, conventional image sensors measure absolute intensity of slowly changing scenes effectively but do poorly on high dynamic range or quickly changing scenes. In this paper, we present an event-based video reconstruction pipeline for High Dynamic Range (HDR) scenarios. The proposed algorithm includes a frame augmentation pre-processing step that deblurs and temporally interpolates frame data using events. The augmented frame and event data are then fused using a novel asynchronous Kalman filter under a unifying uncertainty model for both sensors. Our experimental results are evaluated on both publicly available datasets with challenging lighting conditions and fast motions and our new dataset with HDR reference. The proposed algorithm outperforms state-of-the-art methods in both absolute intensity error (48% reduction) and image similarity indexes (average 11% improvement).

Event cameras are powerful new sensors able to capture high dynamic range with microsecond temporal resolution and no motion blur. Their strength is detecting brightness changes (called events) rather than capturing direct brightness images; however, algorithms can be used to convert events into usable image representations for applications such as classification. Previous works rely on hand-crafted spatial and temporal smoothing techniques to reconstruct images from events. State-of-the-art video reconstruction has recently been achieved using neural networks that are large (10M parameters) and computationally expensive, requiring 30ms for a forward-pass at 640 × 480 resolution on a modern GPU. We propose a novel neural network architecture for video reconstruction from events that is smaller (38k vs. 10M parameters) and faster (10ms vs. 30ms) than state-of-the-art with minimal impact to performance.

Event-based cameras can measure intensity changes (called ‘events’) with microsecond accuracy under high-speed motion and challenging lighting conditions. With the active pixel sensor (APS), the event camera allows simultaneous output of the intensity frames. However, the output images are captured at a relatively low frame-rate and often suffer from motion blur. A blurry image can be regarded as the integral of a sequence of latent images, while the events indicate the changes between the latent images. Therefore, we are able to model the blur-generation process by associating event data to a latent image. In this paper, we propose a simple and effective approach, the Event-based Double Integral (EDI) model, to reconstruct a high frame-rate, sharp video from a single blurry frame and its event data. The video generation is based on solving a simple non-convex optimization problem in a single scalar variable. Experimental results on both synthetic and real images demonstrate the superiority of our EDI model and optimization method in comparison to the state-of-the-art.