AUTHOR=Marcireau Alexandre , Ieng Sio-Hoi , Benosman Ryad 

TITLE=Sepia, Tarsier, and Chameleon: A Modular C++ Framework for Event-Based Computer Vision

JOURNAL=Frontiers in Neuroscience

VOLUME=13

YEAR=2020

URL=https://www.frontiersin.org/journals/neuroscience/articles/10.3389/fnins.2019.01338

DOI=10.3389/fnins.2019.01338

ISSN=1662-453X

ABSTRACT=<p>This paper introduces an new open-source, header-only and modular C++ framework to facilitate the implementation of event-driven algorithms. The framework relies on three independent components: <italic>sepia</italic> (file IO), <italic>tarsier</italic> (algorithms), and <italic>chameleon</italic> (display). Our benchmarks show that algorithms implemented with <italic>tarsier</italic> are faster and have a lower latency than identical implementations in other state-of-the-art frameworks, thanks to static polymorphism (compile-time pipeline assembly). The <italic>observer pattern</italic> used throughout the framework encourages implementations that better reflect the event-driven nature of the algorithms and the way they process events, easing future translation to neuromorphic hardware. The framework integrates drivers to communicate with the <italic>DVS</italic>, the <italic>DAVIS</italic>, the <italic>Opal Kelly ATIS</italic>, and the <italic>CCam ATIS</italic>.</p>