Figure 9.

Samples of the preprocessed ball (left side) and bean dataset (right side). All data have been recorded with a DAVIS346 and preprocessed by the event-based pipeline presented in this paper. After an initial noise filtering, a tracking algorithm based on events only tracks the object’s center. All events and frames of a detected object are compressed to an ROI of constant size around the center. The upper row shows the resulting event stream where positive events are marked in green and negative in red (animated in the digital version of this manuscript). In the lower row sections of conventional gray scale images of the DAVIS camera are displayed that have been extracted by the pipeline.