In this work, we propose a novel framework for unsupervised learning for event cameras that learns motion information from only the event stream. In particular, we propose an input representation of the events in the form of a discretized volume that maintains the temporal distribution of the events, which we pass through a neural network to predict the motion of the events. This motion is used to attempt to remove any motion blur in the event image. We then propose a loss function applied to the motion compensated event image that measures the motion blur in this image. We train two networks with this framework, one to predict optical flow, and one to predict egomotion and depths, and evaluate these networks on the Multi Vehicle Stereo Event Camera dataset, along with qualitative results from a variety of different scenes.

提出了一种基于事件相机的无监督学习框架，通过事件流中的运动信息来学习运动，该框架包含用于事件的输入表示、用于预测运动的神经网络、用于运动补偿的方法以及用于测量运动模糊的损失函数，并使用该框架训练了两个网络，一个用于预测光流，另一个用于预测自运动和深度。最后，使用Multi Vehicle Stereo Event Camera数据集进行了定量和定性结果的评估。

光流、深度和自运动的无监督事件学习