Clustering is crucial for many computer vision applications such as robust tracking, object detection and segmentation. This work presents a real-time clustering technique that takes advantage of the unique properties of eventbased vision sensors. Since event-based sensors trigger events only when the intensity changes, the data is sparse, with low redundancy. Thus, our approach redefines the well-known mean-shift clustering method using asynchronous events instead of conventional frames. The potential of our approach is demonstrated in a multi-target tracking application using Kalman filters to smooth the trajectories. We evaluated our method on an existing dataset with patterns of different shapes and speeds, and a new dataset that we collected. The sensor was attached to the Baxter robot in an eye-in-hand setup monitoring real-world objects in an action manipulation task. Clustering accuracy achieved an F-measure of 0.95, reducing the computational cost by 88% compared to the frame-based method. The average error for tracking was 2.5 pixels and the clustering achieved a consistent number of clusters along time.
REF presents a Kalman filter-based object tracking method for multi-target tracking.
Real-Time Clustering and Multi-Target Tracking Using Event-Based Sensors
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Engineering Computer Science