VECtor: A Versatile Event-Centric Benchmark for Multi-Sensor SLAM
arXiv:2207.01404 · doi:10.1109/LRA.2022.3186770
Abstract
Event cameras have recently gained in popularity as they hold strong potential to complement regular cameras in situations of high dynamics or challenging illumination. An important problem that may benefit from the addition of an event camera is given by Simultaneous Localization And Mapping (SLAM). However, in order to ensure progress on event-inclusive multi-sensor SLAM, novel benchmark sequences are needed. Our contribution is the first complete set of benchmark datasets captured with a multi-sensor setup containing an event-based stereo camera, a regular stereo camera, multiple depth sensors, and an inertial measurement unit. The setup is fully hardware-synchronized and underwent accurate extrinsic calibration. All sequences come with ground truth data captured by highly accurate external reference devices such as a motion capture system. Individual sequences include both small and large-scale environments, and cover the specific challenges targeted by dynamic vision sensors.
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Cited by in corpus (15)
- ESVIO: Event-based Stereo Visual Inertial Odometry
- SODFormer: Streaming Object Detection with Transformer Using Events and Frames
- ESVO2: Direct Visual-Inertial Odometry with Stereo Event Cameras
- Neuromorphic Perception and Navigation for Mobile Robots: A Review
- Stereo Event-based, 6-DOF Pose Tracking for Uncooperative Spacecraft
- Event-based Stereo Depth Estimation: A Survey
- CaRtGS: Computational Alignment for Real-Time Gaussian Splatting SLAM
- A 5-Point Minimal Solver for Event Camera Relative Motion Estimation
- Motion-Aware Optical Camera Communication with Event Cameras
- EF-Calib: Spatiotemporal Calibration of Event- and Frame-Based Cameras Using Continuous-Time Trajectories
- DH-PTAM: A Deep Hybrid Stereo Events-Frames Parallel Tracking And Mapping System
- An N-Point Linear Solver for Line and Motion Estimation with Event Cameras
- On the Benefits of Visual Stabilization for Frame- and Event-based Perception
- Hardware-Free Event Cameras Temporal Synchronization Based on Event Density Alignment
- AsynEIO: Asynchronous Monocular Event-Inertial Odometry Using Gaussian Process Regression