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ES-PTAM: Event-based Stereo Parallel Tracking and Mapping
Suman Ghosh, Valentina Cavinato, Guillermo Gallego
Visual Odometry (VO) and SLAM are fundamental components for spatial perception in mobile robots. Despite enormous progress in the field, current VO/SLAM systems are limited by the…
On the Benefits of Visual Stabilization for Frame- and Event-based Perception
Juan Pablo Rodriguez-Gomez, Jose Ramiro Martinez-de Dios, Anibal Ollero +1
Vision-based perception systems are typically exposed to large orientation changes in different robot applications. In such conditions, their performance might be compromised due t…
CMax-SLAM: Event-based Rotational-Motion Bundle Adjustment and SLAM System using Contrast Maximization
Shuang Guo, Guillermo Gallego
Event cameras are bio-inspired visual sensors that capture pixel-wise intensity changes and output asynchronous event streams. They show great potential over conventional cameras t…
Continuous-Time Visual-Inertial Odometry for Event Cameras
Elias Mueggler, Guillermo Gallego, Henri Rebecq +1
Event cameras are bio-inspired vision sensors that output pixel-level brightness changes instead of standard intensity frames. They offer significant advantages over standard camer…
The Event-Camera Dataset and Simulator: Event-based Data for Pose Estimation, Visual Odometry, and SLAM
Elias Mueggler, Henri Rebecq, Guillermo Gallego +2
New vision sensors, such as the Dynamic and Active-pixel Vision sensor (DAVIS), incorporate a conventional global-shutter camera and an event-based sensor in the same pixel array.…