Integration of dynamic vision sensor with inertial measurement unit for electronically stabilized event-based vision

Neuromorphic spike event-based dynamic vision sensors (DVS) offer the possibility of fast, computationally efficient visual processing for navigation in mobile robotics. To extract motion parallax cues relating to 3D scene structure, the uninformative camera rotation must be removed from the visual input to allow the un-blurred features and informative relative optical flow to be analyzed. Here we describe the integration of an inertial measurement unit (IMU) with a 240×180 pixel DVS. The algorithm for electronic stabilization of the visual input against camera rotation is described. Examples are presented showing the stabilization performance of the system.