Publication: EVO: A geometric approach to event-based 6-DOF parallel tracking and mapping in real-time
EVO: A geometric approach to event-based 6-DOF parallel tracking and mapping in real-time
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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, 2(2), 593–600. https://doi.org/10.1109/lra.2016.2645143
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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,
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- Rebecq, Henri
- Horstschaefer, Timo
- Gallego, Guillermo
- Scaramuzza, Davide
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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, 2(2), 593–600. https://doi.org/10.1109/lra.2016.2645143
