EventMASK: A Frame-Free Rapid Human Instance Segmentation With Event Camera Through Constrained Mask Propagation
Lakshmi Annamalai, Vignesh Ramanathan, Chetan Singh Thakur · IEEE Robotics and Automation Letters · 2024
Human Instance Segmentation (HIS) is essential in robotics for applications such as autonomous driving and human-robot interaction,etc. Existing HIS solutions using conventional cameras are computationally expensive and slow. Benefits such as sparsity, high temporal resolution,etc.make the event camera a promising alternative. HIS with an event camera is not actively explored, though. Thus, we introduce EventMASK, a novel HIS solution that makes use of an event camera. EventMASK has been meticulously designed to process sparse raw events asynchronously, enabling low-latency processing. EventMASK employs simple statistical and probabilistic non-deep learning techniques for computational efficiency and adopts mask propagation for real-time performance. To curtail error accumulation, we present an innovative constrained likelihood-based mask updation method. EventMASK's semi-supervised approach circumvents the need for event-level instance labeling. The comprehensive analysis demonstrates EventMASK's robustness in a wide spectrum of scenarios, offering a low-cost and low-latent HIS solution for resource-constrained robotics.