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Line Tracking with Event Cameras

Power Line Tracking with Event Cameras

Publication

If you use this code in an academic context, please cite the following IROS 2021 paper.

A. Dietsche, G. Cioffi, J. Hidalgo-Carrio and D. Scaramuzza, "Power Line Tracking with Event Cameras," IEEE/RSJ Int. Conf. Intell. Robot. Syst. (IROS). 2021.

@InProceedings{Dietsche2021
  author = {Dietsche, Alexander and Cioffi, Giovanni and Hidalgo-Carrio, Javier and Scaramuzza, Davide},
  title = {PowerLine Tracking with Event Cameras},
  booktitle = {IEEE/RSJ Int. Conf. Intell. Robot. Syst. (IROS)},
  year = {2021}
}

Dataset

The dataset can be downloaded here

Installation

The code has been tested on Ubuntu 18.04 and ROS Melodic.

  1. Create a catkin workspace:
mkdir -p line_tracking_with_event_cameras_ws/src
cd line_tracking_with_event_cameras_ws
catkin init
  1. Add the dvs_msgs package, from rpg_dvs_ros, to your workspace.
  2. Clone this repository and add it to your workspace.
  3. Build the tracker:
catkin build line_event_tracker
  1. If you want to visualize the lines, build the visualization package as well:
catkin build line_event_tracker_visualizer

Parameter Tuning

The parameters and their description can be found here.

Undistort

The tracker performs much better on undistorted events. To that end, a undistort step was added. The camera parameters need to be defined in the run.launch file. For visualization package needs the camera parameters defined separately in their run.launch file.

Run

To run the tracker:

roslaunch line_event_tracker run.launch

To run the tracker with the visualization:

roslaunch line_event_tracker run_with_visualizer.launch

Power line demo

To run power line demo download the rosbag of flight2 here and run:

roslaunch line_event_tracker run_with_visualizer.launch

rosbag play -s 15 flight2_2020-12-17-17-52-17.bag

In the rqt window select /line_visualization in the drop down menu.