# Real-Time Panoramic Tracking for Event Cameras

arXiv: https://arxiv.org/abs/1703.05161 · HTML: https://mlsanity.com/paper/1703.05161/

## Key facts

- Cited by 16 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 15 Mar 2017.

## Built on by (most cited first, 16 of 16)

- [Event-aided Direct Sparse Odometry](https://mlsanity.com/paper/2204.07640/) (2022)
- [CMax-SLAM: Event-based Rotational-Motion Bundle Adjustment and SLAM System using Contrast Maximization](https://mlsanity.com/paper/2403.08119/) (2024)
- [Deep Event Visual Odometry](https://mlsanity.com/paper/2312.09800/) (2023)
- [The Spatio-Temporal Poisson Point Process: A Simple Model for the Alignment of Event Camera Data](https://mlsanity.com/paper/2106.06887/) (2021)
- [Differentiable Event Stream Simulator for Non-Rigid 3D Tracking](https://mlsanity.com/paper/2104.15139/) (2021)
- [Event-based Simultaneous Localization and Mapping: A Comprehensive Survey](https://mlsanity.com/paper/2304.09793/) (2023)
- [Full-DoF Egomotion Estimation for Event Cameras Using Geometric Solvers](https://mlsanity.com/paper/2503.03307/) (2025)
- [Cross-Modal Semi-Dense 6-DoF Tracking of an Event Camera in Challenging Conditions](https://mlsanity.com/paper/2401.08043/) (2024)
- [Visual Odometry with Neuromorphic Resonator Networks](https://mlsanity.com/paper/2209.02000/) (2022)
- [Event-based Mosaicing Bundle Adjustment](https://mlsanity.com/paper/2409.07365/) (2024)
- [Density Invariant Contrast Maximization for Neuromorphic Earth Observations](https://mlsanity.com/paper/2304.14125/) (2023)
- [Fast Window-Based Event Denoising with Spatiotemporal Correlation Enhancement](https://mlsanity.com/paper/2402.09270/) (2024)
- [Event-based Photometric Bundle Adjustment](https://mlsanity.com/paper/2412.14111/) (2024)
- [Hardware, Algorithms, and Applications of the Neuromorphic Vision Sensor: a Review](https://mlsanity.com/paper/2504.08588/) (2025)
- [EROAM: Event-based Camera Rotational Odometry and Mapping in Real-time](https://mlsanity.com/paper/2411.11004/) (2024)
- [LECalib: Line-Based Event Camera Calibration](https://mlsanity.com/paper/2512.22441/) (2025)

## Abstract (arXiv)

Event cameras are a paradigm shift in camera technology. Instead of full frames, the sensor captures a sparse set of events caused by intensity changes. Since only the changes are transferred, those cameras are able to capture quick movements of objects in the scene or of the camera itself. In this work we propose a novel method to perform camera tracking of event cameras in a panoramic setting with three degrees of freedom. We propose a direct camera tracking formulation, similar to state-of-the-art in visual odometry. We show that the minimal information needed for simultaneous tracking and mapping is the spatial position of events, without using the appearance of the imaged scene point. We verify the robustness to fast camera movements and dynamic objects in the scene on a recently proposed dataset and self-recorded sequences.