PROJECT: Apreture robust optical flow for event driven sensors

This code performs aperture corrected flow computation over events obtained from DVS or ATIS sensors.

The events must be written in a txt file as: N x 4 array where N = number of events

Each row must be in form:

x y timestamp polarity

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** INSTALLATION **

Dependencies: Eigen3, gcc, g++

Install dependencies:

sudo apt-get install libeigen3-dev gcc g++ cmake

To install project (recommended):

mkdir _build

cd _build

cmake ..

make

To run the project:

cd _build

Type ./FARMS_Flow --help for parameters list ..

e.g: ./FARMS_Flow --width 320 --height 320 --filename ~/path/to/file/filename *note: filename is without extension

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Parameter list:

--help                Displays this message

--filename arg        add events file name without extension (.txt)

--height arg          set sensor height

--width arg           set sensor width

--filtersize arg      set size of neighbor for plane fitting

--inlierCheck arg     set minimum number of inliers to validate plane

--numEvents arg       set max number of events to process

Input event files: txt files with N rows for each event storing events as: x y t p.

Output files: with suffix FARMSOut with N rows for each event storing flow events as: x y t p globalR globalTheta localR localTheta

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Please cite as: H. Akolkar, S. H. Ieng and R. Benosman, "Real-time high speed motion prediction using fast aperture-robust event-driven visual flow," in IEEE Transactions on Pattern Analysis and Machine Intelligence, doi: 10.1109/TPAMI.2020.3010468.

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Send Queries to : [email protected] (or use the github ticketing)