Data

Tools

Indexes

Applications

Experiments

Open Source Science

https://github.com/imperialcollegelondon/event_emin_ros

ROS wrapper for real-time incremental event-based vision motion estimation by dispersion minimisation

https://github.com/imperialcollegelondon/event_emin_ros

Science Score: 23.0%

This score indicates how likely this project is to be science-related based on various indicators:

  • ○
    CITATION.cff file
  • ✓
    codemeta.json file
    Found codemeta.json file
  • ○
    .zenodo.json file
  • ○
    DOI references
  • ✓
    Academic publication links
    Links to: ieee.org
  • ○
    Academic email domains
  • ○
    Institutional organization owner
  • ○
    JOSS paper metadata
  • ○
    Scientific vocabulary similarity
    Low similarity (13.8%) to scientific vocabulary
Last synced: 4 months ago · JSON representation

Repository

ROS wrapper for real-time incremental event-based vision motion estimation by dispersion minimisation

Basic Info
  • Host: GitHub
  • Owner: ImperialCollegeLondon
  • License: other
  • Language: C++
  • Default Branch: master
  • Size: 275 KB
Statistics
  • Stars: 6
  • Watchers: 2
  • Forks: 1
  • Open Issues: 1
  • Releases: 0
Created about 4 years ago · Last pushed over 3 years ago
Metadata Files
Readme License

README.md

eventeminros

License: CC BY-NC-SA 4.0

ROS wrapper for real-time incremental event-based vision motion estimation by dispersion minimisation (EventEMin). This code was used to demonstrate live incremental motion estimation using a DAVIS346B. We used PlotJuggler to show the motion estimates compared to IMU measurements in a graph similar to the one below:

Global motion graph

If you use this code in a scientific publication, please cite the following papers:

The authors provide this code in the hope it will be useful for understanding the proposed method, as well as for reproducibility of the results.

For more information and more open-source software please visit the Personal Robotic Lab's website: https://www.imperial.ac.uk/personal-robotics/software/.

Requirements

This code was tested on Ubuntu 16.04, 18.04 and 20.04, and respective ROS versions, using a DAVIS346B live. It was also tested using bag files recorded by a DAVIS240.

Dependencies

General

We assume you already have a catkin_ws environment. On a terminal type:

bash cd ~/catkin_ws/src git clone --recurse-submodules https://github.com/ImperialCollegeLondon/event_emin_ros.git cd .. catkin build event_emin_ros

Usage

Open a terminal and run:

bash roscore

This package assumes that there are two active publishers for events and camera info. Then, on a terminal type:

bash rosrun event_emin_ros <model> camera_info:=/subscribe/to/camera_info events:=/subscribe/to/events

For example, assuming you are already running the rpg_dvs_ros package, to estimate rotational motion type:

bash rosrun event_emin_ros rotation camera_info:=/dvs/camera_info events:=/dvs/events

The estimated variables are published by default to the topic /event_emin_ros/vars, and whose type is a standard vector (see message type).

Launch Files

Launch files are also provided for convenience. For example:

bash roslaunch event_emin_ros global_motion.launch model:=<model> camera_ns:=<camera>

assumes another node is publishing camera_info and events messages, either from a live camera of a bag file, on the camera_ns namespace (by default the camera namespace is /camera). The following models are currently supported: affinity, isometry, rotation, similarity, translation2d.

License

The eventmodelros code is licensed under CC BY-NC-SA 4.0. Commercial usage is not permitted.

Owner

  • Name: Imperial College London
  • Login: ImperialCollegeLondon
  • Kind: organization
  • Email: icgithub-support@imperial.ac.uk
  • Location: Imperial College London

Imperial College main code repository

GitHub Events

Total
  • Issues event: 1
  • Watch event: 1
Last Year
  • Issues event: 1
  • Watch event: 1

Issues and Pull Requests

Last synced: over 1 year ago

All Time
  • Total issues: 2
  • Total pull requests: 0
  • Average time to close issues: 3 days
  • Average time to close pull requests: N/A
  • Total issue authors: 2
  • Total pull request authors: 0
  • Average comments per issue: 1.5
  • Average comments per pull request: 0
  • Merged pull requests: 0
  • Bot issues: 0
  • Bot pull requests: 0
Past Year
  • Issues: 1
  • Pull requests: 0
  • Average time to close issues: 5 days
  • Average time to close pull requests: N/A
  • Issue authors: 1
  • Pull request authors: 0
  • Average comments per issue: 1.0
  • Average comments per pull request: 0
  • Merged pull requests: 0
  • Bot issues: 0
  • Bot pull requests: 0
View more stats
Top Authors
Issue Authors
  • chethanparameshwara (1)
  • ZM-Wang1 (1)
Pull Request Authors
Top Labels
Issue Labels
Pull Request Labels