Stabilizing apsDVS Camera Output using Integrated IMU

Participants: Tobi Delbruck

Using the brand-new apsDVS camera SBRet10+gyro we are developing the firmware and software to combine the integrated Invensense MPU-6150 inertial measurement unit rate gyros into the existing event stream from the camera. This 6-DOF sensor provides acceleration and rotation sensor reading. The sensor is mounted on the camera directly behind the SBRet10 apsDVS event-based vision sensor. Then the rate gyro outputs are used to compute a transform that is applied to each output DVS event in order to stabilize the DVS output against camera rotation.

This result was achieved. See a video here .