# Neuromorphic Visual Odometry System for Intelligent Vehicle Application with Bio-inspired Vision Sensor

arXiv: https://arxiv.org/abs/1909.02490 · HTML: https://mlsanity.com/paper/1909.02490/

## Key facts

- Cited by 11 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 5 Sep 2019.

## Built on by (most cited first, 11 of 11)

- [EventNeRF: Neural Radiance Fields from a Single Colour Event Camera](https://mlsanity.com/paper/2206.11896/) (2022)
- [DEVO: Depth-Event Camera Visual Odometry in Challenging Conditions](https://mlsanity.com/paper/2202.02556/) (2022)
- [Globally-Optimal Contrast Maximisation for Event Cameras](https://mlsanity.com/paper/2206.05127/) (2022)
- [Deep Event Visual Odometry](https://mlsanity.com/paper/2312.09800/) (2023)
- [Hybrid SNN-ANN: Energy-Efficient Classification and Object Detection for Event-Based Vision](https://mlsanity.com/paper/2112.03423/) (2021)
- [Event-based Simultaneous Localization and Mapping: A Comprehensive Survey](https://mlsanity.com/paper/2304.09793/) (2023)
- [Visual Odometry with an Event Camera Using Continuous Ray Warping and Volumetric Contrast Maximization](https://mlsanity.com/paper/2107.03011/) (2021)
- [Cross-Modal Semi-Dense 6-DoF Tracking of an Event Camera in Challenging Conditions](https://mlsanity.com/paper/2401.08043/) (2024)
- [Event Camera Meets Mobile Embodied Perception: Abstraction, Algorithm, Acceleration, Application](https://mlsanity.com/paper/2503.22943/) (2025)
- [URNet: Uncertainty-aware Refinement Network for Event-based Stereo Depth Estimation](https://mlsanity.com/paper/2509.18184/) (2025)
- [Event-Based Visual Odometry on Non-Holonomic Ground Vehicles](https://mlsanity.com/paper/2401.09331/) (2024)

## Abstract (arXiv)

The neuromorphic camera is a brand new vision sensor that has emerged in recent years. In contrast to the conventional frame-based camera, the neuromorphic camera only transmits local pixel-level changes at the time of its occurrence and provides an asynchronous event stream with low latency. It has the advantages of extremely low signal delay, low transmission bandwidth requirements, rich information of edges, high dynamic range etc., which make it a promising sensor in the application of in-vehicle visual odometry system. This paper proposes a neuromorphic in-vehicle visual odometry system using feature tracking algorithm. To the best of our knowledge, this is the first in-vehicle visual odometry system that only uses a neuromorphic camera, and its performance test is carried out on actual driving datasets. In addition, an in-depth analysis of the results of the experiment is provided. The work of this paper verifies the feasibility of in-vehicle visual odometry system using neuromorphic cameras.