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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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    "title": "ASAP: Adaptive Scheme for Asynchronous Processing of event-based vision algorithms", 
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    "notes": "This work was supported by the ARM-EXTEND (DPI2017-8979-R) project funded by the Spanish National R&D Plan.", 
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    "keywords": [
      "Event camera", 
      "Aerial robots", 
      "Perception systems", 
      "Event-based processing", 
      "Asynchronous computation"
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    "publication_date": "2020-05-26", 
    "creators": [
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        "orcid": "0000-0002-4435-5466", 
        "affiliation": "University of Seville", 
        "name": "R. Tapia"
      }, 
      {
        "orcid": "0000-0002-2285-2605", 
        "affiliation": "University of Seville", 
        "name": "A. G\u00f3mez Egu\u00edluz"
      }, 
      {
        "orcid": "0000-0001-9431-7831", 
        "affiliation": "University of Seville", 
        "name": "J. R. Mart\u00ednez-de Dios"
      }, 
      {
        "orcid": "0000-0003-2155-2472", 
        "affiliation": "University of Seville", 
        "name": "A. Ollero"
      }
    ], 
    "meeting": {
      "acronym": "ICRA 2020", 
      "url": "https://sites.google.com/view/unconventional-sensors/home", 
      "title": "IEEE International Conference on Robotics and Automation (ICRA 2020) Workshop on Unconventional Sensors in Robotics"
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    "description": "<p>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&nbsp;event packages&nbsp;and sending them one-by-one as&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&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&nbsp;ASAP&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.</p>"
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