Co-Calibration and Registration of Color and Event Cameras
Abstract
The event camera uses a novel bio-inspired sensor that works radically different from the traditional optical sensor. Registration between color and event images is challenging due to the data heterogeneity. This technical report presents a method for event and color image registration through camera calibration. Specifically, an event and a color camera are co-calibrated with a common calibration target. As the event camera cannot capture static scenes, we change the intensity of the light source around the calibration board and generate the accumulated frame. At the same time, we press the color camera shutter to obtain a color image. According to this method, multiple pairs of calibration board images are obtained. Next, we combine the event camera with the color camera to perform stereo calibration. The intrinsic and extrinsic parameters of each camera can be obtained respectively, and the relative position between the two cameras determined. Based on the two cameras homography matrix, we can deduce the corresponding position of the pixel in the color image, which is the registration of color and event cameras. The results of experiments performed with a color camera and an event camera pair show the method is effective.
Document Details
- Document Type
- Technical Report
- Publication Date
- Nov 01, 2020
- Accession Number
- AD1116489
Entities
People
- Jinwei Ye
- Philip Osteen
- Qifan Zhang
- S. S. Young
Organizations
- United States Army Research Laboratory