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Type Journal Article
Scope Discipline-based scholarship
Title EVO: A geometric approach to event-based 6-DOF parallel tracking and mapping in real-time
Organization Unit
Authors
  • Henri Rebecq
  • Timo Horstschaefer
  • Guillermo Gallego
  • Davide Scaramuzza
Item Subtype Original Work
Refereed Yes
Status Published in final form
Language
  • English
Journal Title IEEE Robotics and Automation Letters
Publisher Institute of Electrical and Electronics Engineers
Geographical Reach international
ISSN 2377-3766
Volume 2
Number 2
Page Range 593 - 600
Date 2017
Abstract Text 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 semi-dense 3D 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 3D 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 SLAM by unlocking the potential of event cameras. This allows us to tackle challenging scenarios that are currently inaccessible to standard cameras.
Free access at DOI
Official URL http://rpg.ifi.uzh.ch/docs/RAL16_EVO.pdf
Digital Object Identifier 10.1109/lra.2016.2645143
Other Identification Number merlin-id:14370
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