EventCV：基于事件的机器人视觉库
The EventCV Library for Event-Based Robotic Vision
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中文总结 AI 辅助
EventCV是一个开源Rust库，提供Python绑定，集成驱动、处理与推理，加速事件相机数据处理，用于机器人视觉，支持实时操作。
中文摘要 AI 辅助
事件相机以微秒级时间尺度异步检测每个像素的亮度变化，具有高动态范围和低功耗的特点。这些特性对于快速移动或在恶劣光照条件下工作的机器人来说非常理想。然而，将事件相机集成到现实世界的机器人流程中仍然需要大量的工作：目前没有即插即用的驱动程序，事件流以各种不兼容的文件格式记录，而且大多数项目依赖于定制的研究级代码。在此，我们提出EventCV，一个开源且可扩展的Rust库，提供OpenCV风格的Python绑定，降低了使用事件相机的入门门槛。EventCV提供了广泛的功能：去噪滤波器和几何变换、数据增强、角点检测和无监督特征学习、对比度最大化运动估计、视频到事件的模拟器，以及用于机器人技术栈部署的开放神经网络交换（ONNX）推理。EventCV集成了神经形态驱动程序包，允许直接实时处理事件相机流。目前没有现有工具包在一个包中涵盖这一系列操作，且EventCV构建表示和解码文件的速度比现有库快1.1倍至3.7倍。我们在Jetson Orin AGX上部署了EventCV，并展示了三个机器人案例研究，涵盖目标检测、设备端模型推理和定位。项目网页：此https URL。
英文摘要
Event cameras detect per-pixel brightness changes asynchronously on microsecond timescales, with high dynamic range and low power draw. These are desirable properties for robots that move fast or work in difficult lighting conditions. However, integrating an event camera into a real-world robotic pipeline still requires substantial effort: plug-and-play drivers do not exist, event streams are recorded in a variety of incompatible file formats, and most projects rely on custom research-grade code. Here, we present EventCV, an open-source and extensible Rust library with OpenCV-style Python bindings that lowers the entry barrier to working with event cameras. EventCV provides a wide range of features: denoising filters and geometric transforms, augmentations, corner detection and unsupervised feature learning, contrast-maximization motion estimation, a video-to-events simulator, and Open Neural Network Exchange (ONNX) inference for deployment in robotic stacks. EventCV integrates the Neuromorphic Drivers package, allowing an event camera stream to be processed directly in real time. No existing toolkit covers this range of operations in one package, and EventCV builds representations and decodes files 1.1x to 3.7x faster than the currently available libraries. We deploy EventCV on a Jetson Orin AGX and present three robotics case studies spanning object detection, on-device model inference, and localization. Project webpage: https://eventcv.net.
发表机构
- Queensland University of Technology（昆士兰科技大学）
机构由 AI 辅助整理，请以论文原文为准。
