公开(公告)号：US20250124549A1

公开(公告)日：2025-04-17

申请号：US18911542

申请日：2024-10-10

Applicant: PROPHESEE

Inventor： Daniele PERRONE ,  Amos SIRONI

IPC: G06T5/50 ,  G06T5/73 ,  G06V10/24 ,  H04N23/745

Abstract: An image enhancement method using multi-frame stacking comprises the steps of storing multiple frames of a target scene captured by a frame-based camera during an acquisition interval; storing a series of events produced during the acquisition interval by an event-based camera viewing the target scene; synchronizing timestamps of the events and timestamps of the frames; selecting an anchor frame among the multiple frames; aligning a current frame with respect to the anchor frame, based on stored events having timestamps corresponding to an interval between the anchor frame and the current frame; and merging the aligned frame and the anchor frame.

公开(公告)号：US20220100658A1

公开(公告)日：2022-03-31

申请号：US17430141

申请日：2020-02-10

Applicant: PROPHESEE

Inventor： Daniele PERRONE ,  Xavier LAGORCE ,  Vitor SCHAMBACH COSTA ,  Ludovic CHOTARD ,  Sylvain BROHAN

IPC: G06F12/0815 ,  G06F12/0895

Abstract: The method processes a series of events received asynchronously from an array of pixels of an event-based light sensor. Each event of the series comprises an address of a pixel of the array from which the event is received, and an attribute value depending on incident light sensed by that pixel. The method comprises: storing a data structure in a first memory, the data structure including event data for at least some of the pixels of the array, the event data for a pixel being related to at least one event most recently received from said pixel; during a timeslot, building, in a second memory having a faster access than the first memory, a map for the pixels of the array as the events of the series are received, the map including an information element for each pixel of the array, the information element having one of a plurality of values including a nil value indicating an absence of event during the timeslot; and updating the data structure after the timeslot using the map.

公开(公告)号：US20220036110A1

公开(公告)日：2022-02-03

申请号：US17413347

申请日：2019-12-13

Applicant: PROPHESEE

Inventor： Amos SIRONI ,  Pierre DE TOURNEMIRE ,  Daniele PERRONE

IPC: G06K9/32 ,  G06K9/00

Abstract: The present invention relates to a method of tracking objects in a scene observed by an event-based sensor that produces events asynchronously from a matrix of sensing elements, wherein, from each sensing element of the matrix, respective events are produced as a function of variations of light incident on the sensing element, the method comprising: detecting, by a first process, an object in the scene from asynchronous events produced by the event-based sensor; and determining, by a second process, a track associated to the detected object from asynchronous events produced by the event-based sensor; wherein the first process has a time resolution lower than the second process.

公开(公告)号：US20230254579A1

公开(公告)日：2023-08-10

申请号：US18003302

申请日：2021-06-23

Applicant: Prophesee

Inventor： Daniele PERRONE ,  Thibault LEBLANC ,  Sylvain BROHAN

IPC: H04N23/68 ,  H04N23/80 ,  H04N23/83

CPC classification number: H04N23/683 ,  H04N23/815 ,  H04N23/83

Abstract: An image enhancement method, comprising:



obtaining a reference image frame from of a scene, by a frame-based sensor, wherein the reference image contains artifacts and has an exposure duration;
obtaining a stream of events, by an event-based sensor which is synchronized with the frame-based sensor, at least during the exposure duration, wherein the events encode brightness changes of the scene corresponding to the reference image; and
deriving a corrected image frame without the artifacts from the reference image frame using the stream of events.

公开(公告)号：US20220329771A1

公开(公告)日：2022-10-13

申请号：US17657724

申请日：2022-04-01

Applicant: PROPHESEE

Inventor： Daniele PERRONE ,  Jacques MANDERSCHIED ,  Stephane VALENTE

IPC: H04N13/128 ,  H04N13/25 ,  G06T7/32

Abstract: A method for registering pixels provided in a pixel event stream comprising: acquiring image frames from a frame-based camera, each image frame being generated using an exposure period; generating a first point matrix from one or more of the image frames, the first point matrix being associated with an acquisition period of the image frames; acquiring a pixel event stream generated during the acquisition period; generating a second point matrix from pixel events of the pixel event stream, occurring during the acquisition period of the first point matrix; computing a correlation scoring function applied to at least a part of the points of the first and second point matrices, and estimating respective positions of points of the second point matrix in the first point matrix, due to depths of the points of the first point matrix related to the second point matrix, by maximizing the correlation scoring function.