An abstract theory of sensor eventification

TL;DR

This paper develops a theoretical framework for creating event-based versions of traditional sensors, analyzing conditions for their adequacy based on signal regularity, stability, and system properties, supported by algorithms and robot examples.

Contribution

It introduces a formal theory and algorithms for sensor eventification, including a hardness result, and demonstrates applications through elementary robot examples.

Findings

Eventification depends on signal regularity and system properties.

Stability considerations are crucial for effective event-based sensors.

The paper provides algorithms and a hardness result for sensor eventification.

Abstract

Unlike traditional cameras, event cameras measure changes in light intensity and report differences. This paper examines the conditions necessary for other traditional sensors to admit eventified versions that provide adequate information despite outputting only changes. The requirements depend upon the regularity of the signal space, which we show may depend on several factors including structure arising from the interplay of the robot and its environment, the input-output computation needed to achieve its task, as well as the specific mode of access (synchronous, asynchronous, polled, triggered). Further, there are additional properties of stability (or non-oscillatory behavior) that can be desirable for a system to possess and that we show are also closely related to the preceding notions. This paper contributes theory and algorithms (plus a hardness result) that addresses these considerations while developing several elementary robot examples along the way.