Event-based motion segmentation by motion compensation

Timo Stoffregen, Guillermo Gallego, Tom Drummond, Lindsay Kleeman, Davide Scaramuzza

Research output: Chapter in Book/Report/Conference proceedingConference PaperResearchpeer-review

94 Citations (Scopus)


In contrast to traditional cameras, whose pixels have a common exposure time, event-based cameras are novel bio-inspired sensors whose pixels work independently and asynchronously output intensity changes (called 'events'), with microsecond resolution. Since events are caused by the apparent motion of objects, event-based cameras sample visual information based on the scene dynamics and are, therefore, a more natural fit than traditional cameras to acquire motion, especially at high speeds, where traditional cameras suffer from motion blur. However, distinguishing between events caused by different moving objects and by the camera's ego-motion is a challenging task. We present the first per-event segmentation method for splitting a scene into independently moving objects. Our method jointly estimates the event-object associations (i.e., segmentation) and the motion parameters of the objects (or the background) by maximization of an objective function, which builds upon recent results on event-based motion-compensation. We provide a thorough evaluation of our method on a public dataset, outperforming the state-of-the-art by as much as 10%. We also show the first quantitative evaluation of a segmentation algorithm for event cameras, yielding around 90% accuracy at 4 pixels relative displacement.

Original languageEnglish
Title of host publication2019 IEEE/CVF International Conference on Computer Vision (ICCV 2019)
EditorsIn So Kweon, Nikos Paragios, Ming-Hsuan Yang, Svetlana Lazebnik
Place of PublicationPiscataway NJ USA
PublisherIEEE, Institute of Electrical and Electronics Engineers
Number of pages10
ISBN (Electronic)9781728148038
ISBN (Print)9781728148045
Publication statusPublished - 2019
EventIEEE International Conference on Computer Vision 2019 - Seoul, Korea, South
Duration: 27 Oct 20192 Nov 2019
Conference number: 17th
https://ieeexplore.ieee.org/xpl/conhome/8972782/proceeding (Proceedings)


ConferenceIEEE International Conference on Computer Vision 2019
Abbreviated titleICCV 2019
Country/TerritoryKorea, South
Internet address

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