mlsanityData to 14 Oct 2026

A Unifying Contrast Maximization Framework for Event Cameras, with Applications to Motion, Depth, and Optical Flow Estimation

arXiv 1804.01306 ↗First posted 4 Apr 2018cs.CV cs.ROcited by 178

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Abstract (arXiv)

We present a unifying framework to solve several computer vision problems with event cameras: motion, depth and optical flow estimation. The main idea of our framework is to find the point trajectories on the image plane that are best aligned with the event data by maximizing an objective function: the contrast of an image of warped events. Our method implicitly handles data association between the events, and therefore, does not rely on additional appearance information about the scene. In addition to accurately recovering the motion parameters of the problem, our framework produces motion-corrected edge-like images with high dynamic range that can be used for further scene analysis. The proposed method is not only simple, but more importantly, it is, to the best of our knowledge, the first method that can be successfully applied to such a diverse set of important vision tasks with event cameras.

Key facts. Cited by 178 papers in the map (data through 14 Oct 2026). First posted on arXiv 4 Apr 2018.

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Citing papers per year: 2021: 16; 2022: 27; 2023: 27; 2024: 44; 2025: 36; 2026: 28.

178 papers.

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  1. 2021Self-Supervised Learning of Event-Based Optical Flow with Spiking Neural Networkscited by 99
  2. 2022Event-aided Direct Sparse Odometrycited by 92
  3. 2022Secrets of Event-Based Optical Flowcited by 92
  4. 2023Deep Learning for Event-based Vision: A Comprehensive Survey and Benchmarkscited by 90
  5. 2024Recent Event Camera Innovations: A Surveycited by 68
  6. 2022Learning Dense and Continuous Optical Flow from an Event Cameracited by 60
  7. 2023Robust e-NeRF: NeRF from Sparse & Noisy Events under Non-Uniform Motioncited by 44
  8. 2023Cross-modal Orthogonal High-rank Augmentation for RGB-Event Transformer-trackerscited by 43
  9. 2023Taming Contrast Maximization for Learning Sequential, Low-latency, Event-based Optical Flowcited by 39
  10. 2022Event Collapse in Contrast Maximization Frameworkscited by 33
  11. 2023TMA: Temporal Motion Aggregation for Event-based Optical Flowcited by 32
  12. 2022Globally-Optimal Contrast Maximisation for Event Camerascited by 31
38 more
  1. 2022Lightweight Event-based Optical Flow Estimation via Iterative Deblurringcited by 31
  2. 2024CMax-SLAM: Event-based Rotational-Motion Bundle Adjustment and SLAM System using Contrast Maximizationcited by 31
  3. 2023Fully neuromorphic vision and control for autonomous drone flightcited by 30
  4. 2021Formulating Event-based Image Reconstruction as a Linear Inverse Problem with Deep Regularization using Optical Flowcited by 28
  5. 2021The Spatio-Temporal Poisson Point Process: A Simple Model for the Alignment of Event Camera Datacited by 27
  6. 2021Real-Time Optical Flow for Vehicular Perception with Low- and High-Resolution Event Camerascited by 27
  7. 2023E-MLB: Multilevel Benchmark for Event-Based Camera Denoisingcited by 27
  8. 2023RPEFlow: Multimodal Fusion of RGB-PointCloud-Event for Joint Optical Flow and Scene Flow Estimationcited by 26
  9. 2021Fusion-FlowNet: Energy-Efficient Optical Flow Estimation using Sensor Fusion and Deep Fused Spiking-Analog Network Architecturescited by 25
  10. 2021Learning from Event Cameras with Sparse Spiking Convolutional Neural Networkscited by 25
  11. 2022Efficient Human Pose Estimation via 3D Event Point Cloudcited by 25
  12. 2024Motion-prior Contrast Maximization for Dense Continuous-Time Motion Estimationcited by 24
  13. 2021Comparing Representations in Tracking for Event Camera-based SLAMcited by 23
  14. 2021Spatiotemporal Registration for Event-based Visual Odometrycited by 21
  15. 2022Multi-Event-Camera Depth Estimation and Outlier Rejection by Refocused Events Fusioncited by 21
  16. 2024IncEventGS: Pose-Free Gaussian Splatting from a Single Event Cameracited by 20
  17. 2022Adaptive-SpikeNet: Event-based Optical Flow Estimation using Spiking Neural Networks with Learnable Neuronal Dynamicscited by 19
  18. 2023EventAid: Benchmarking Event-aided Image/Video Enhancement Algorithms with Real-captured Hybrid Datasetcited by 19
  19. 2024Event-based Stereo Depth Estimation: A Surveycited by 19
  20. 2022Are High-Resolution Event Cameras Really Needed?cited by 18
  21. 2022How Many Events do You Need? Event-based Visual Place Recognition Using Sparse But Varying Pixelscited by 18
  22. 2022eCDT: Event Clustering for Simultaneous Feature Detection and Tracking-cited by 18
  23. 2021Event-based Synthetic Aperture Imaging with a Hybrid Networkcited by 17
  24. 2021Stereo Hybrid Event-Frame (SHEF) Cameras for 3D Perceptioncited by 17
  25. 2023EvHandPose: Event-based 3D Hand Pose Estimation with Sparse Supervisioncited by 17
  26. 2023Event-based Simultaneous Localization and Mapping: A Comprehensive Surveycited by 17
  27. 2024Microsaccade-inspired Event Camera for Roboticscited by 17
  28. 2024ESVO2: Direct Visual-Inertial Odometry with Stereo Event Camerascited by 17
  29. 2022A Fast Geometric Regularizer to Mitigate Event Collapse in the Contrast Maximization Frameworkcited by 16
  30. 2023Enhancing Traffic Object Detection in Variable Illumination with RGB-Event Fusioncited by 16
  31. 2024EventHDR: from Event to High-Speed HDR Videos and Beyondcited by 16
  32. 2023Towards Anytime Optical Flow Estimation with Event Camerascited by 15
  33. 2023Event-based Continuous Color Video Decompression from Single Framescited by 15
  34. 2024EF-3DGS: Event-Aided Free-Trajectory 3D Gaussian Splattingcited by 15
  35. 2021Visual Odometry with an Event Camera Using Continuous Ray Warping and Volumetric Contrast Maximizationcited by 14
  36. 2021Dynamic Event Camera Calibrationcited by 14
  37. 2022Event-based Monocular Dense Depth Estimation with Recurrent Transformerscited by 14
  38. 2023A 5-Point Minimal Solver for Event Camera Relative Motion Estimationcited by 13

50 most cited of 178 All 178 (JSON)