Event camera has offered promising alternative for visual perception, especially in high speed and high dynamic range scenes. Recently, many deep learning methods have shown great success in providing model-free solutions to many event-based problems, such as optical flow estimation. However, existing deep learning methods did not address the importance of temporal information well from the perspective of architecture design and cannot effectively extract spatio-temporal features. Another line of research that utilizes Spiking Neural Network suffers from training issues for deeper architecture. To address these points, a novel input representation is proposed that captures the events temporal distribution for signal enhancement. Moreover, we introduce a spatio-temporal recurrent encoding-decoding neural network architecture for event-based optical flow estimation, which utilizes Convolutional Gated Recurrent Units to extract feature maps from a series of event images. Besides, our architecture allows some traditional frame-based core modules, such as correlation layer and iterative residual refine scheme, to be incorporated. The network is end-to-end trained with self-supervised learning on the Multi-Vehicle Stereo Event Camera dataset. We have shown that it outperforms all the existing state-of-the-art methods by a large margin.

本文提出了一种新颖的输入表示法，捕捉事件的时间分布以增强信号，并介绍了一种利用卷积门控循环单元从一系列事件图像中提取特征图的时空循环编码-解码神经网络体系结构，其中允许整合一些基于帧的核心模块，如相关层和迭代残差精化方案，它在Multi-VehicleStereoEventCamera数据集上进行自我监督学习的端到端训练，表现优于现有所有最先进的方法。

时空循环神经网络用于基于事件的光流估计