event_representation

Event-based camera data representation.
Some popular representation and their demo codes.

If you see other representation (paper or code), please tell me or make a pull request to this repo. Many thanks

Current Presentation

event frame

Event frame is the simplest representation. Considering polarity, each pixel in image would only be +1/0/-1, which means a positive/no/negative event occurs here.

event accumulate frame

Event accumulate frame is sometimes called event intensity frame. Each pixel would be a number that indicate the intensity. For a uint8 image, the range would be (0, 255), where 128 means no events (or the same number of positive/negative events), >128 means more positive events occurred here, and vice versa.

time-surface | surface of active events

Time-surface is also caled surface of active events, which include both spatio and temporal information. The value of each pixel should be

$$image(x,y; t) = exp(-|t-T(x,y)| / \tau)$$

where $\tau$ is a tunable parameter that depends on the motion in the scene. t is the reference time, which could be 'local' or 'global'.

Check this paper for more details.

Acknowledgement

Some codes are inspired by TU Berlin's Course: https://github.com/tub-rip/events_viz