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Conference paper Open Access

ASAP: Adaptive Scheme for Asynchronous Processing of event-based vision algorithms

R. Tapia; A. Gómez Eguíluz; J. R. Martínez-de Dios; A. Ollero


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  <identifier identifierType="DOI">10.5281/zenodo.5082199</identifier>
  <creators>
    <creator>
      <creatorName>R. Tapia</creatorName>
      <nameIdentifier nameIdentifierScheme="ORCID" schemeURI="http://orcid.org/">0000-0002-4435-5466</nameIdentifier>
      <affiliation>University of Seville</affiliation>
    </creator>
    <creator>
      <creatorName>A. Gómez Eguíluz</creatorName>
      <nameIdentifier nameIdentifierScheme="ORCID" schemeURI="http://orcid.org/">0000-0002-2285-2605</nameIdentifier>
      <affiliation>University of Seville</affiliation>
    </creator>
    <creator>
      <creatorName>J. R. Martínez-de Dios</creatorName>
      <nameIdentifier nameIdentifierScheme="ORCID" schemeURI="http://orcid.org/">0000-0001-9431-7831</nameIdentifier>
      <affiliation>University of Seville</affiliation>
    </creator>
    <creator>
      <creatorName>A. Ollero</creatorName>
      <nameIdentifier nameIdentifierScheme="ORCID" schemeURI="http://orcid.org/">0000-0003-2155-2472</nameIdentifier>
      <affiliation>University of Seville</affiliation>
    </creator>
  </creators>
  <titles>
    <title>ASAP: Adaptive Scheme for Asynchronous Processing of event-based vision algorithms</title>
  </titles>
  <publisher>Zenodo</publisher>
  <publicationYear>2020</publicationYear>
  <subjects>
    <subject>Event camera</subject>
    <subject>Aerial robots</subject>
    <subject>Perception systems</subject>
    <subject>Event-based processing</subject>
    <subject>Asynchronous computation</subject>
  </subjects>
  <dates>
    <date dateType="Issued">2020-05-26</date>
  </dates>
  <resourceType resourceTypeGeneral="ConferencePaper"/>
  <alternateIdentifiers>
    <alternateIdentifier alternateIdentifierType="url">https://zenodo.org/record/5082199</alternateIdentifier>
  </alternateIdentifiers>
  <relatedIdentifiers>
    <relatedIdentifier relatedIdentifierType="DOI" relationType="IsVersionOf">10.5281/zenodo.3855412</relatedIdentifier>
  </relatedIdentifiers>
  <version>2</version>
  <rightsList>
    <rights rightsURI="https://creativecommons.org/licenses/by/4.0/legalcode">Creative Commons Attribution 4.0 International</rights>
    <rights rightsURI="info:eu-repo/semantics/openAccess">Open Access</rights>
  </rightsList>
  <descriptions>
    <description descriptionType="Abstract">&lt;p&gt;Event cameras can capture pixel-level illumination changes with very high temporal resolution and dynamic range. They have received increasing research interest due to their robustness to lighting conditions and motion blur. Two main approaches exist in the literature to feed the event-based processing algorithms: packaging the triggered events in&amp;nbsp;event packages&amp;nbsp;and sending them one-by-one as&amp;nbsp;single events. These approaches suffer limitations from either processing overflow or lack of responsivity. Processing overflow is caused by high event generation rates when the algorithm cannot process all the events in real-time. Conversely, lack of responsivity happens in cases of low event generation rates when the event packages are sent at too low frequencies. This paper presents&amp;nbsp;ASAP, an adaptive scheme to manage the event stream through variable- size packages that accommodate to the event package processing times. The experimental results show that&amp;nbsp;ASAP&amp;nbsp;is capable of feeding an asynchronous event-by-event clustering algorithm in a responsive and efficient manner and at the same time prevent overflow.&lt;/p&gt;</description>
    <description descriptionType="Other">This work was supported by the ARM-EXTEND (DPI2017-8979-R) project funded by the Spanish National R&amp;amp;D Plan.</description>
  </descriptions>
  <fundingReferences>
    <fundingReference>
      <funderName>European Commission</funderName>
      <funderIdentifier funderIdentifierType="Crossref Funder ID">10.13039/100010661</funderIdentifier>
      <awardNumber awardURI="info:eu-repo/grantAgreement/EC/H2020/788247/">788247</awardNumber>
      <awardTitle>General compliant aerial Robotic manipulation system Integrating Fixed and Flapping wings to INcrease range and safety</awardTitle>
    </fundingReference>
  </fundingReferences>
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