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| Format: | Preprint |
| Publié: |
2025
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| Accès en ligne: | https://arxiv.org/abs/2510.20071 |
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| _version_ | 1866909864763064320 |
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| author | Pfrommer, Bernd |
| author_facet | Pfrommer, Bernd |
| contents | Reconstructing an intensity image from the events of a moving event camera is a challenging task that is typically approached with neural networks deployed on graphics processing units. This paper presents a much simpler, FIlter Based Asynchronous Reconstruction method (FIBAR). First, intensity changes signaled by events are integrated with a temporal digital IIR filter. To reduce reconstruction noise, stale pixels are detected by a novel algorithm that regulates a window of recently updated pixels. Arguing that for a moving camera, the absence of events at a pixel location likely implies a low image gradient, stale pixels are then blurred with a Gaussian filter. In contrast to most existing methods, FIBAR is asynchronous and permits image read-out at an arbitrary time. It runs on a modern laptop CPU at about 42(140) million events/s with (without) spatial filtering enabled. A few simple qualitative experiments are presented that show the difference in image reconstruction between FIBAR and a neural network-based approach (FireNet). FIBAR's reconstruction is noisier than neural network-based methods and suffers from ghost images. However, it is sufficient for certain tasks such as the detection of fiducial markers. Code is available at https://github.com/ros-event-camera/event_image_reconstruction_fibar |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2510_20071 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Filter-Based Reconstruction of Images from Events Pfrommer, Bernd Computer Vision and Pattern Recognition I.4.1 Reconstructing an intensity image from the events of a moving event camera is a challenging task that is typically approached with neural networks deployed on graphics processing units. This paper presents a much simpler, FIlter Based Asynchronous Reconstruction method (FIBAR). First, intensity changes signaled by events are integrated with a temporal digital IIR filter. To reduce reconstruction noise, stale pixels are detected by a novel algorithm that regulates a window of recently updated pixels. Arguing that for a moving camera, the absence of events at a pixel location likely implies a low image gradient, stale pixels are then blurred with a Gaussian filter. In contrast to most existing methods, FIBAR is asynchronous and permits image read-out at an arbitrary time. It runs on a modern laptop CPU at about 42(140) million events/s with (without) spatial filtering enabled. A few simple qualitative experiments are presented that show the difference in image reconstruction between FIBAR and a neural network-based approach (FireNet). FIBAR's reconstruction is noisier than neural network-based methods and suffers from ghost images. However, it is sufficient for certain tasks such as the detection of fiducial markers. Code is available at https://github.com/ros-event-camera/event_image_reconstruction_fibar |
| title | Filter-Based Reconstruction of Images from Events |
| topic | Computer Vision and Pattern Recognition I.4.1 |
| url | https://arxiv.org/abs/2510.20071 |