arXiv:2503.22943cs.ROcs.CV2025-03中稿 · ACM CSUR,35 pages被引 19

综述事件相机在移动端感知中的应用与挑战,涵盖抽象、算法、加速与实际场景。

Event Camera Meets Mobile Embodied Perception: Abstraction, Algorithm, Acceleration, Application

  • 系统梳理事件相机在移动设备上的数据抽象与处理方法
  • 总结视觉里程计、目标追踪等应用中低延迟高精度的实现方案
  • 适合对事件相机、边缘计算、智能感知感兴趣的科研与工程人员

随着移动设备应用复杂度提升,设备正向高敏捷性演进,这对移动感知提出了高精度、低延迟的新要求。事件相机凭借高时间分辨率和低延迟,成为高敏捷平台感知的理想选择。然而,噪声事件多、语义信息不稳定、数据量大等问题,给资源受限的移动设备带来处理挑战。本文综述了2014至2025年相关文献,系统介绍事件相机在移动端感知的基础原理、事件抽象方法、算法进展,以及软硬件加速策略。重点讨论事件相机在视觉里程计、目标追踪、光流估计和三维重建等应用中的表现,并指出事件数据处理、传感器融合与实时部署中的关键挑战。最后展望未来方向:改进光学设计、利用类脑计算提升效率、融合生物启发算法。为支持持续研究,提供在线更新的开源资料表。本综述旨在推动事件视觉在多样化场景中的应用落地。

原文摘要 · Abstract (English)

With the increasing complexity of mobile device applications, these devices are evolving toward high agility. This shift imposes new demands on mobile sensing, particularly in achieving high-accuracy and low-latency. Event-based vision has emerged as a disruptive paradigm, offering high temporal resolution and low latency, making it well-suited for high-accuracy and low-latency sensing tasks on high-agility platforms. However, the presence of substantial noisy events, lack of stable, persistent semantic information, and large data volume pose challenges for event-based data processing on resource-constrained mobile devices. This paper surveys the literature from 2014 to 2025 and presents a comprehensive overview of event-based mobile sensing, encompassing its fundamental principles, event \textit{abstraction} methods, \textit{algorithm} advancements, and both hardware and software \textit{acceleration} strategies. We discuss key \textit{applications} of event cameras in mobile sensing, including visual odometry, object tracking, optical flow, and 3D reconstruction, while highlighting challenges associated with event data processing, sensor fusion, and real-time deployment. Furthermore, we outline future research directions, such as improving the event camera with advanced optics, leveraging neuromorphic computing for efficient processing, and integrating bio-inspired algorithms. To support ongoing research, we provide an open-source \textit{Online Sheet} with recent developments. We hope this survey serves as a reference, facilitating the adoption of event-based vision across diverse applications.

事件相机移动感知类脑计算实时系统

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