| Title: | OS22-4 Event-Driven Particle Filter for Tracking Irregularly Moving Objects |
|---|---|
| Publication: | ICAROB2023 |
| Volume: | 28 |
| Pages: | 546-549 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2023.OS22-4 |
| Author(s): | Yuki Kawasaki, Masahiro Ohtani, Shinsuke Yasukawa |
| Publication Date: | February 9, 2023 |
| Keywords: | Particle filter, Event-based camera, Robot vision |
| Abstract: | Conventional object tracking techniques that use general-purpose cameras and particle filters find it difficult to track irregularly and rapidly moving objects. To track an irregularly moving object without losing sight, quickly measuring the position of the object is necessary. In this study, we used a fast-response event-based camera, which is a bioinspired camera that produces a spiking output. We propose an event-driven particle filter that performs processing in response to the input from an event-based camera. Our proposed method was evaluated by presenting an eventbased camera with a rectangular motion pattern that combines periodic and constant-velocity motions at various speeds. The experimental results demonstrated that our proposed method could track objects in a test video. |
| PDF File: | https://alife-robotics.co.jp/members2023/icarob/data/html/data/OS/OS22/OS22-4.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
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