MATLAB Implementation of Event Lifetime Estimation
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lifetime definition
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Event Lifetime

The lifetime of an event is the time that it takes for the moving brightness gradient causing the event to travel a distance of 1 pixel. The provided algorithm augments each event with its lifetime, which is computed from the event's velocity on the image plane. The generated stream of augmented events gives a continuous representation of events in time, hence enabling the design of new algorithms that outperform those based on the accumulation of events over fixed, artificially-chosen time intervals. A direct application of this augmented stream is the construction of sharp gradient (edge-like) images at any time instant.


For more details, please read our ICRA'15 paper.

Disclaimer and License

This code has been tested with MATLAB R2016b on Ubuntu 16.04. This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed. The source code is released under a GNU General Public License (GPL).


Please run the file matlab/main.m.

It computes the lifetime of each events and creates a video with sharp renderings and, as comparison, another video using a fixed integration time. Sample data is included in this repository.


If you use this code in an academic context, please cite the following ICRA'15 publication:

E. Mueggler, C. Forster, N. Baumli, G. Gallego, D. Scaramuzza: Lifetime Estimation of Events from Dynamic Vision Sensors. IEEE International Conference on Robotics and Automation (ICRA), Seattle, 2015.

  author = {Mueggler, Elias and Forster, Christian and Baumli, Nathan and Gallego, Guillermo and Scaramuzza, Davide},
  title = {Lifetime Estimation of Events from Dynamic Vision Sensors},
  booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
  year = {2015}