Method of tracking shape in a scene observed by an asynchronous light sensor
First Claim
1. A method of tracking a shape in a scene, comprising:
- receiving asynchronous information from a light sensor having a matrix of pixels arranged opposite the scene, wherein the asynchronous information comprises, for each pixel of the matrix, successive events originating asynchronously from said pixel; and
updating a model comprising a set of points and representing a tracked shape of an object, after detecting events attributed to said object in the asynchronous information, wherein the updating comprises, following detection of an event;
associating with the detected event a point of the model having a minimum distance with respect to the pixel of the matrix from which the detected event originates; and
generating the updated model according to the pixel of the matrix from which the detected event originates and the associated point, and independently of associations made between points of the model and detected events before the detection of said event.
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Abstract
Asynchronous information is provided by a sensor having a matrix of pixels disposed opposite the scene. The asynchronous information includes, for each pixel of the matrix, successive events originating from this pixel, that may depend on variations of light in the scene. A model representing the tracked shape of an object is updated after detecting events attributed to this object in the asynchronous information. Following detection, the updating of the model includes an association of a point of the model with the event detected by minimizing a criterion of distance with respect to the pixel of the matrix from which the detected event originates. The updated model is then determined as a function of the pixel of the matrix from which the detected event originates and attributed to the object and of the associated point in the model, independently of the associations performed before the detection of this event.
31 Citations
18 Claims
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1. A method of tracking a shape in a scene, comprising:
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receiving asynchronous information from a light sensor having a matrix of pixels arranged opposite the scene, wherein the asynchronous information comprises, for each pixel of the matrix, successive events originating asynchronously from said pixel; and updating a model comprising a set of points and representing a tracked shape of an object, after detecting events attributed to said object in the asynchronous information, wherein the updating comprises, following detection of an event; associating with the detected event a point of the model having a minimum distance with respect to the pixel of the matrix from which the detected event originates; and generating the updated model according to the pixel of the matrix from which the detected event originates and the associated point, and independently of associations made between points of the model and detected events before the detection of said event. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17)
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18. A shape tracking device, comprising a computer configured to:
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receive asynchronous information from a light sensor having a matrix of pixels arranged opposite a scene, wherein the asynchronous information comprises, for each pixel of the matrix, successive events originating asynchronously from said pixel; and update a model comprising a set of points and representing a tracked shape of an object, after detecting events attributed to said object in the asynchronous information, wherein the updating comprises, following detection of an event; associating with the detected event a point of the model having a minimum distance with respect to the pixel of the matrix from which the detected event originates; and generating the updated model according to the pixel of the matrix from which the detected event originates and the associated point, and independently of associations made between points of the model and detected events before the detection of said event.
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Specification