US 12,493,966 B2
Aligned time surfaces via dense optical flows for event-based object detection, identification and tracking
Ganesh Sundaramoorthi, Belmont, MA (US); and Kin Gwn Lore, Belmont, MA (US)
Assigned to Raytheon Company, Arlington, VA (US)
Filed by Raytheon Company, Arlington, VA (US)
Filed on Dec. 23, 2022, as Appl. No. 18/088,094.
Prior Publication US 2024/0212166 A1, Jun. 27, 2024
Int. Cl. G06T 7/20 (2017.01); G06T 3/18 (2024.01); G06T 5/50 (2006.01); G06T 5/73 (2024.01)
CPC G06T 7/20 (2013.01) [G06T 3/18 (2024.01); G06T 5/73 (2024.01)] 20 Claims
OG exemplary drawing
 
1. A system for producing aligned time surfaces, the system comprising one or more computing device processors; and
one or more computing device memories, coupled to the one or more computing device processors, the one or more computing device memories storing instructions executed by the one or more computing device processors, wherein the instructions are configured to:
receive camera event data from a first location;
compute, using the camera event data, a plurality of unaligned time surfaces;
determine a plurality of optical flows corresponding to the unaligned time surfaces;
determine, using the optical flows, corresponding displacement parameters by respectively combining (a) a location to be mapped and (b) a result of using an integral on an optical flow of the optical flows for mapping displacement between any two time periods;
produce, using the displacement parameters, a plurality of consecutive mapped time surfaces;
perform warping, using the optical flows, of the mapped time surfaces producing corresponding aligned time surfaces; and
aggregate the aligned time surfaces to produce an image having lowered blurring of object boundaries.