Contrast maximisation estimates the motion captured in an event stream by maximising the sharpness of the motion compensated event image. To carry out contrast maximisation, many previous works employ iterative optimisation algorithms, such as conjugate gradient, which require good initialisation to avoid converging to bad local minima. To alleviate this weakness, we propose a new globally optimal event-based motion estimation algorithm. Based-on-branch and bound (BnB), our method solves rotational (3DoF) motion estimation on event streams, which supports practical applications such as video stabilisation and attitude estimation. Underpinning our method are novel bounding functions for contrast maximisation, whose theoretical validity is rigorously established. We show concrete examples from public datasets where globally optimal solutions are vital to the success of contrast maximisation. Despite its exact nature, our algorithm is currently able to process a 50, 000 event input in 300 seconds (a locally optimal solver takes 30 seconds on the same input), and has the potential to be further speeded-up using GPUs.

利用分支定界法提出基于对比度最大化的事件流运动估计算法，将其应用于视频稳定和姿态估计等实际应用中，获得全局优化解决方案，且具有较高的运算速度和精度。

基于事件的运动估计的全局最优对比度最大化