title: ÐÐ±Ð½Ð°ÑÑÐ¶ÐµÐ½Ð¸Ðµ Ð¸ Ð¾ÑÑÐ»ÐµÐ¶Ð¸Ð²Ð°Ð½Ð¸Ðµ Ð´Ð²Ð¸Ð¶ÑÑÐ¸Ñ ÑÑ Ð¾Ð±ÑÐµÐºÑÐ¾Ð² Ñ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð½Ð¸ÐµÐ¼ ÑÐ¾Ð±ÑÑÐ¸Ð¹Ð½Ð¾Ð¹ ÐºÐ°Ð¼ÐµÑÑ
title: Ð²ÑÐ¿ÑÑÐºÐ½Ð°Ñ ÐºÐ²Ð°Ð»Ð¸ÑÐ¸ÐºÐ°ÑÐ¸Ð¾Ð½Ð½Ð°Ñ ÑÐ°Ð±Ð¾ÑÐ° Ð¼Ð°Ð³Ð¸ÑÑÑÐ°
titleType: Subtitle
title: Moving object detection and tracking using an event camera
Creators: name: ÐÐ¾Ð·Ð»Ð¾Ð², ÐÐµÐ½Ð¸Ñ
Publisher: name: Ð¡Ð°Ð½ÐºÑ-ÐÐµÑÐµÑÐ±ÑÑÐ³ÑÐºÐ¸Ð¹ Ð¿Ð¾Ð»Ð¸ÑÐµÑÐ½Ð¸ÑÐµÑÐºÐ¸Ð¹ ÑÐ½Ð¸Ð²ÐµÑÑÐ¸ÑÐµÑ ÐÐµÑÑÐ° ÐÐµÐ»Ð¸ÐºÐ¾Ð³Ð¾
Year: 2023
Subjects: ÐºÐ¾Ð¼Ð¿ÑÑÑÐµÑÐ½Ð¾Ðµ Ð·ÑÐµÐ½Ð¸Ðµ
Ð½ÐµÐ¹ÑÐ¾Ð¼Ð¾ÑÑÐ½Ð¾Ðµ Ð·ÑÐµÐ½Ð¸Ðµ
ÑÐ¾Ð±ÑÑÐ¸Ð¹Ð½Ð°Ñ ÐºÐ°Ð¼ÐµÑÐ°
Ð¾Ð±Ð½Ð°ÑÑÐ¶ÐµÐ½Ð¸Ðµ Ð¾Ð±ÑÐµÐºÑÐ¾Ð²
Ð¾ÑÑÐ»ÐµÐ¶Ð¸Ð²Ð°Ð½Ð¸Ðµ Ð¾Ð±ÑÐµÐºÑÐ¾Ð²
ÑÐ¸Ð¼ÑÐ»ÑÑÐ¾Ñ ÑÐ¾Ð±ÑÑÐ¸Ð¹Ð½Ð¾Ð¹ ÐºÐ°Ð¼ÐµÑÑ
computer vision
neuromorphic vision
event camera
object detection
object tracking
event camera simulator

description: ÐÐ±ÑÐµÐºÑÐ¾Ð¼ Ð¸ÑÑÐ»ÐµÐ´Ð¾Ð²Ð°Ð½Ð¸Ñ ÑÐ²Ð»ÑÑÑÑÑ Ð¼ÐµÑÐ¾Ð´Ñ Ð¾Ð±Ð½Ð°ÑÑÐ¶ÐµÐ½Ð¸Ñ Ð¸ Ð¾ÑÑÐ»ÐµÐ¶Ð¸Ð²Ð°Ð½Ð¸Ñ Ð¾Ð±ÑÐµÐºÑÐ¾Ð² Ñ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð½Ð¸ÐµÐ¼ ÑÐ¾Ð±ÑÑÐ¸Ð¹Ð½Ð¾Ð¹ ÐºÐ°Ð¼ÐµÑÑ. Ð¦ÐµÐ»Ñ ÑÐ°Ð±Ð¾ÑÑ â ÑÐ°Ð·ÑÐ°Ð±Ð¾ÑÐ°ÑÑ Ð¼ÐµÑÐ¾Ð´ Ð¾Ð±Ð½Ð°ÑÑÐ¶ÐµÐ½Ð¸Ñ Ð¸ Ð¾ÑÑÐ»ÐµÐ¶Ð¸Ð²Ð°Ð½Ð¸Ñ Ð¾Ð±ÑÐµÐºÑÐ¾Ð² Ñ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð½Ð¸ÐµÐ¼ ÑÐ¾Ð±ÑÑÐ¸Ð¹Ð½Ð¾Ð¹ ÐºÐ°Ð¼ÐµÑÑ Ð¿ÑÐ¸ ÑÐ»ÐµÐ´ÑÑÑÐ¸Ñ ÑÑÐ»Ð¾Ð²Ð¸ÑÑ: ÑÐ°Ð±Ð¾ÑÐ° Ð² ÑÐµÐ¶Ð¸Ð¼Ðµ ÑÐµÐ°Ð»ÑÐ½Ð¾Ð³Ð¾ Ð²ÑÐµÐ¼ÐµÐ½Ð¸, ÑÐ°Ð±Ð¾ÑÐ° Ð² ÑÐ»Ð¾Ð¶Ð½ÑÑ ÑÑÐµÐ½Ð°Ñ Ñ Ð·Ð°Ð³ÑÐ¾Ð¼Ð¾Ð¶Ð´ÐµÐ½Ð½ÑÐ¼ Ð¸ ÑÐµÐºÑÑÑÑÐ¸ÑÐ¾Ð²Ð°Ð½Ð½ÑÐ¼ ÑÐ¾Ð½Ð¾Ð¼, ÑÐ»ÐµÐ¶ÐµÐ½Ð¸Ðµ Ð² ÑÐµÑÐµÐ½Ð¸Ðµ Ð¿ÑÐ¾Ð´Ð¾Ð»Ð¶Ð¸ÑÐµÐ»ÑÐ½Ð¾Ð³Ð¾ Ð²ÑÐµÐ¼ÐµÐ½Ð¸, Ð¾ÑÑÑÑÑÑÐ²Ð¸Ðµ Ð·Ð°ÑÐ°Ð½ÐµÐµ Ð¸Ð·Ð²ÐµÑÑÐ½Ð¾Ð¹ Ð¸Ð½ÑÐ¾ÑÐ¼Ð°ÑÐ¸Ð¸ Ð¾Ð± Ð¾Ð±ÑÐµÐºÑÐµ Ð¸ Ð¾ÐºÑÑÐ¶Ð°ÑÑÐµÐ¹ ÑÑÐµÐ´Ðµ. Ð Ð°ÑÑÐ¼Ð¾ÑÑÐµÐ½Ñ Ð¿ÑÐ¸Ð½ÑÐ¸Ð¿ ÑÐ°Ð±Ð¾ÑÑ, Ð¾ÑÐ½Ð¾Ð²Ð½ÑÐµ Ð°ÑÑÐ¸ÑÐµÐºÑÑÑÑ, Ð´Ð¾ÑÑÐ¾Ð¸Ð½ÑÑÐ²Ð° Ð¸ Ð½ÐµÐ´Ð¾ÑÑÐ°ÑÐºÐ¸ ÑÐ¾Ð±ÑÑÐ¸Ð¹Ð½Ð¾Ð¹ ÐºÐ°Ð¼ÐµÑÑ. ÐÑÐ¾Ð²ÐµÐ´ÐµÐ½Ð¾ ÑÑÐ°Ð²Ð½ÐµÐ½Ð¸Ðµ ÑÐ¾ ÑÑÐ°Ð½Ð´Ð°ÑÑÐ½Ð¾Ð¹ Ð¿Ð¾ÐºÐ°Ð´ÑÐ¾Ð²Ð¾Ð¹ ÐºÐ°Ð¼ÐµÑÐ¾Ð¹.Â  Ð¡Ð´ÐµÐ»Ð°Ð½ Ð¾Ð±Ð·Ð¾Ñ ÐºÐ¾Ð¼Ð¼ÐµÑÑÐµÑÐºÐ¸Ñ Ð¼Ð¾Ð´ÐµÐ»ÐµÐ¹ Ð¸ Ð¿ÑÐ¾ÑÐ¾ÑÐ¸Ð¿Ð¾Ð². ÐÑÐ¾Ð¸Ð·Ð²ÐµÐ´ÐµÐ½Ð° ÐºÐ»Ð°ÑÑÐ¸ÑÐ¸ÐºÐ°ÑÐ¸Ñ Ð¼ÐµÑÐ¾Ð´Ð¾Ð² Ð¾Ð±Ð½Ð°ÑÑÐ¶ÐµÐ½Ð¸Ñ Ð¸ Ð¾ÑÑÐ»ÐµÐ¶Ð¸Ð²Ð°Ð½Ð¸Ñ Ð¾Ð±ÑÐµÐºÑÐ¾Ð² Ñ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð½Ð¸ÐµÐ¼ ÑÐ¾Ð±ÑÑÐ¸Ð¹Ð½Ð¾Ð¹ ÐºÐ°Ð¼ÐµÑÑ. ÐÑÐ¿Ð¾Ð»Ð½ÐµÐ½ Ð¾Ð±Ð·Ð¾Ñ ÑÐ¸Ð¼ÑÐ»ÑÑÐ¾ÑÐ¾Ð² ÑÐ¾Ð±ÑÑÐ¸Ð¹Ð½Ð¾Ð¹ ÐºÐ°Ð¼ÐµÑÑ, Ð² ÑÐµÐ·ÑÐ»ÑÑÐ°ÑÐµ ÐºÐ¾ÑÐ¾ÑÐ¾Ð³Ð¾ Ð±ÑÐ» Ð²ÑÐ±ÑÐ°Ð½ Ð¾Ð¿ÑÐ¸Ð¼Ð°Ð»ÑÐ½ÑÐ¹ Ð¿Ð¾ ÑÐ°Ð·Ð»Ð¸ÑÐ½ÑÐ¼ ÑÐ°ÑÐ°ÐºÑÐµÑÐ¸ÑÑÐ¸ÐºÐ°Ð¼. Ð Ð°Ð·ÑÐ°Ð±Ð¾ÑÐ°Ð½ Ð¼ÐµÑÐ¾Ð´ Ð¾Ð±Ð½Ð°ÑÑÐ¶ÐµÐ½Ð¸Ñ Ð¸ Ð¾ÑÑÐ»ÐµÐ¶Ð¸Ð²Ð°Ð½Ð¸Ñ Ð¾Ð±ÑÐµÐºÑÐ¾Ð² Ñ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð½Ð¸ÐµÐ¼ ÑÐ¾Ð±ÑÑÐ¸Ð¹Ð½Ð¾Ð¹ ÐºÐ°Ð¼ÐµÑÑ. ÐÑÐµÐ´Ð»Ð°Ð³Ð°ÐµÐ¼Ð°Ñ ÑÐ¸ÑÑÐµÐ¼Ð° ÑÐ¾ÑÑÐ¾Ð¸Ñ Ð¸Ð· Ð»Ð¾ÐºÐ°Ð»ÑÐ½Ð¾Ð³Ð¾ ÑÑÐµÐºÐµÑÐ° Ð¸ Ð³Ð»Ð¾Ð±Ð°Ð»ÑÐ½Ð¾Ð³Ð¾ Ð´ÐµÑÐµÐºÑÐ¾ÑÐ°. ÐÐµÑÐµÐºÑÐ¾Ñ Ð°ÐºÑÐ¸Ð²Ð¸ÑÑÐµÑÑÑ ÑÐ¾Ð»ÑÐºÐ¾ Ð² ÑÐ»ÑÑÐ°Ðµ Ð¿Ð¾ÑÐµÑÐ¸ Ð¾Ð±ÑÐµÐºÑÐ° ÑÑÐµÐºÐµÑÐ¾Ð¼. ÐÐ»Ñ ÑÑÐµÑÐ° Ð¸Ð·Ð¼ÐµÐ½ÐµÐ½Ð¸Ð¹ Ð²Ð½ÐµÑÐ½ÐµÐ³Ð¾ Ð²Ð¸Ð´Ð° Ð¾ÑÑÐ»ÐµÐ¶Ð¸Ð²Ð°ÐµÐ¼Ð¾Ð³Ð¾ Ð¾Ð±ÑÐµÐºÑÐ° Ð¿ÑÐ¸Ð¼ÐµÐ½ÑÐµÑÑÑ Ð¾Ð½Ð»Ð°Ð¹Ð½-Ð¾Ð±ÑÑÐµÐ½Ð¸Ðµ. ÐÐ»Ð³Ð¾ÑÐ¸ÑÐ¼ ÑÐµÐ°Ð»Ð¸Ð·Ð¾Ð²Ð°Ð½ Ð½Ð° ÑÐ·ÑÐºÐµ C++ Ñ Ð¸ÑÐ¿Ð¾Ð»ÑÐ·Ð¾Ð²Ð°Ð½Ð¸ÐµÐ¼ Ð±Ð¸Ð±Ð»Ð¸Ð¾ÑÐµÐºÐ¸ OpenCV Ð¸ Ð¿ÑÐ¾ÑÐµÑÑÐ¸ÑÐ¾Ð²Ð°Ð½ Ð½Ð° Ð´Ð°Ð½Ð½ÑÑ, Ð¿Ð¾Ð»ÑÑÐµÐ½Ð½ÑÑ Ñ ÑÐµÐ°Ð»ÑÐ½Ð¾Ð¹ ÑÐ¾Ð±ÑÑÐ¸Ð¹Ð½Ð¾Ð¹ ÐºÐ°Ð¼ÐµÑÑ, Ð° ÑÐ°ÐºÐ¶Ðµ Ð½Ð° ÑÐ¸Ð½ÑÐµÑÐ¸ÑÐµÑÐºÐ¸Ñ, Ð¿Ð¾Ð»ÑÑÐµÐ½Ð½ÑÑ Ð¿ÑÐ¸ Ð¿Ð¾Ð¼Ð¾ÑÐ¸ ÑÐ¸Ð¼ÑÐ»ÑÑÐ¾ÑÐ° ÑÐ¾Ð±ÑÑÐ¸Ð¹Ð½Ð¾Ð¹ ÐºÐ°Ð¼ÐµÑÑ.
description: The object of the study is methods of detection and tracking of objects using an event camera. The aim of the work is to develop a method of object detection and tracking using an event camera under the following conditions: real-time operation, operation in complex scenes with cluttered and textured backgrounds, long-term tracking, lack of previously known information about the object and the environment. The principle of operation, basic architectures, advantages and disadvantages of event camera are considered. Comparison with standard frame camera is made. Commercial models and prototypes are reviewed. A classification of methods for detecting and tracking objects using an event camera is made. A review of the event camera simulators was made, as a result of which the optimal one was chosen according to various characteristics. A method of object detection and tracking using an event camera was developed. The proposed system consists of a local tracker and a global detector. The detector is activated only in case of loss of an object by the tracker. Online learning is used to account for changes in the appearance of the tracked object. The algorithm is implemented in C++ using the OpenCV library and tested on the data obtained from the real event camera, as well as on the synthetic data obtained with the event camera simulator.