The DOI matches its Crossref record; 3 of the 3 references it cites were found in a registry or an index.
EVO: A Geometric Approach to Event-Based 6-DOF Parallel Tracking and Mapping in Real Time
Open accessAbstract
We present EVO, an event-based visual odometry algorithm. Our algorithm successfully leverages the outstanding properties of event cameras to track fast camera motions while recovering a semidense three-dimensional (3-D) map of the environment. The implementation runs in real time on a standard CPU and outputs up to several hundred pose estimates per second. Due to the nature of event cameras, our algorithm is unaffected by motion blur and operates very well in challenging, high dynamic range conditions with strong illumination changes. To achieve this, we combine a novel, event-based tracking approach based on image-to-model alignment with a recent event-based 3-D reconstruction algorithm in a parallel fashion. Additionally, we show that the output of our pipeline can be used to reconstruct intensity images from the binary event stream, though our algorithm does not require such intensity information. We believe that this work makes significant progress in simultaneous localization and mapping by unlocking the potential of event cameras. This allows us to tackle challenging scenarios that are currently inaccessible to standard cameras.
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Cites
Parallel Tracking and Mapping for Small AR Workspaces
Klein, G., & Murray, D. (2007) · 2007 6th IEEE and ACM International Symposium on Mixed and Augmented Reality · doi:10.1109/ismar.2007.4538852 · Cited by 4,346
LSD-SLAM: Large-scale direct monocular SLAM
Engel, J., Schöps, T., & Cremers, D. (2014) · Lecture Notes in Computer Science · doi:10.1007/978-3-319-10605-2_54 · Cited by 3,851
A 128$\times$128 120 dB 15 $\mu$s Latency Asynchronous Temporal Contrast Vision Sensor
Lichtsteiner, P., Posch, C., & Delbruck, T. (2008) · IEEE Journal of Solid-State Circuits · doi:10.1109/jssc.2007.914337 · Cited by 2,485
Cited by
Gallego, G., Delbruck, T., Orchard, G., Bartolozzi, C., Taba, B., Censi, A., Leutenegger, S., Davison, A. J., Conradt, J., Daniilidis, K., et al. (2022) · IEEE Transactions on Pattern Analysis and Machine Intelligence · doi:10.1109/tpami.2020.3008413 · Cited by 2,566
Self-citationThe Multivehicle Stereo Event Camera Dataset: An Event Camera Dataset for 3D Perception
Zhu, A. Z., Thakur, D., Ozaslan, T., Pfrommer, B., Kumar, V., & Daniilidis, K. (2018) · IEEE Robotics and Automation Letters · doi:10.1109/lra.2018.2800793 · Cited by 567
HATS: Histograms of Averaged Time Surfaces for Robust Event-Based Object Classification
Sironi, A., Brambilla, M., Bourdis, N., Lagorce, X., & Benosman, R. (2018) · 2018 IEEE/CVF Conference on Computer Vision and Pattern Recognition · doi:10.1109/cvpr.2018.00186 · Cited by 486
Events-To-Video: Bringing Modern Computer Vision to Event Cameras
Rebecq, H., Ranftl, R., Koltun, V., & Scaramuzza, D. (2019) · 2019 IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR) · doi:10.1109/cvpr.2019.00398 · Cited by 420
Self-citationGallego, G., Rebecq, H., & Scaramuzza, D. (2018) · 2018 IEEE/CVF Conference on Computer Vision and Pattern Recognition · doi:10.1109/cvpr.2018.00407 · Cited by 341
Self-citation
Metadata
- Authors
- Rebecq, H., Horstschaefer, T., Gallego, G., & Scaramuzza, D.
- Venue
- IEEE Robotics and Automation Letters
- Published
- 2017-04
- Volume
- 2
- Issue
- 2
- Pages
- 593-600
- ISSN
- 2377-3766 (ISSN-L)
- 2377-3774
- OpenAlex
- W2565755350
- Cited by
- 410
- References
- 3
- FWCI
- 31.59
- Type
- journal article
- Language
- en
- Open access
- green
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- Rebecq, H., Horstschaefer, T., Gallego, G., & Scaramuzza, D. (2017). EVO: A Geometric Approach to Event-Based 6-DOF Parallel Tracking and Mapping in Real Time. IEEE Robotics and Automation Letters. https://doi.org/10.1109/lra.2016.2645143
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