基于事件相机的机器人感知与控制综述

As a new type of dynamic vision sensor, the event camera detects the change of illumination intensity independently through each pixel and outputs the “event stream” signal asynchronously. It has excellent characteristics such as small amount of data, low latency and high dynamic range, which brings new possibilities for robot control. In this survey, a series of the latest research results on the combination of event camera and robot perception and motion control, including unmanned aerial vehicles, manipulators and humanoid robots, are introduced. At the same time, the new control methods, new principles and control effects based on event camera are focused, and the application prospect and development trend of robot control based on event camera are pointed out.