LuvHarris: A Practical Corner Detector for Event-cameras

There have been a number of corner detection methods proposed for event cameras in the last years, since event-driven computer vision has become more accessible. Current state-of-the-art have either unsatisfactory accuracy or real-time performance when considered for practical use, for example when a camera is randomly moved in an unconstrained environment. In this paper, we present yet another method to perform corner detection, dubbed look-up event-Harris (luvHarris), that employs the Harris algorithm for high accuracy but manages an improved event throughput. Our method has two major contributions, 1. a novel “threshold ordinal event-surface” that removes certain tuning parameters and is well suited for Harris operations, and 2. an implementation of the Harris algorithm such that the computational load <italic>per event</italic> is minimised and computational heavy convolutions are performed only ‘as-fast-as-possible’, i.e., only as computational resources are available. The result is a practical, real-time, and robust corner detector that runs more than <inline-formula><tex-math notation="LaTeX">$2.6\times$</tex-math><alternatives><mml:math><mml:mrow><mml:mn>2</mml:mn><mml:mo>.</mml:mo><mml:mn>6</mml:mn><mml:mo>×</mml:mo></mml:mrow></mml:math><inline-graphic xlink:href="glover-ieq1-3135635.gif"/></alternatives></inline-formula> the speed of current state-of-the-art; a necessity when using a high-resolution event-camera in real-time. We explain the considerations taken for the approach, compare the algorithm to current state-of-the-art in terms of computational performance and detection accuracy, and discuss the validity of the proposed approach for event cameras.

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