Microsaccade-inspired Event Camera for Robotics

TL;DR

Inspired by human microsaccades, the AMI-EV system enhances event camera stability and data quality for robotics perception by integrating a rotating wedge prism to compensate for motion-induced texture fading.

Contribution

This work introduces a novel hardware-software system that mimics microsaccades to improve event camera perception in robotics, addressing intrinsic sensor limitations.

Findings

AMI-EV provides more stable texture perception under motion.

Benchmark results show superior data quality over standard event cameras.

System enables improved low- and high-level robotics vision tasks.

Abstract

Neuromorphic vision sensors or event cameras have made the visual perception of extremely low reaction time possible, opening new avenues for high-dynamic robotics applications. These event cameras' output is dependent on both motion and texture. However, the event camera fails to capture object edges that are parallel to the camera motion. This is a problem intrinsic to the sensor and therefore challenging to solve algorithmically. Human vision deals with perceptual fading using the active mechanism of small involuntary eye movements, the most prominent ones called microsaccades. By moving the eyes constantly and slightly during fixation, microsaccades can substantially maintain texture stability and persistence. Inspired by microsaccades, we designed an event-based perception system capable of simultaneously maintaining low reaction time and stable texture. In this design, a rotating wedge prism was mounted in front of the aperture of an event camera to redirect light and trigger events. The geometrical optics of the rotating wedge prism allows for algorithmic compensation of the additional rotational motion, resulting in a stable texture appearance and high informational output independent of external motion. The hardware device and software solution are integrated into a system, which we call Artificial MIcrosaccade-enhanced EVent camera (AMI-EV). Benchmark comparisons validate the superior data quality of AMI-EV recordings in scenarios where both standard cameras and event cameras fail to deliver. Various real-world experiments demonstrate the potential of the system to facilitate robotics perception both for low-level and high-level vision tasks.