# High Speed Event Camera TRacking

arXiv: https://arxiv.org/abs/2010.02771 · HTML: https://mlsanity.com/paper/2010.02771/

## Key facts

- Cited by 21 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 6 Oct 2020.

## Built on by (most cited first, 21 of 21)

- [VisEvent: Reliable Object Tracking via Collaboration of Frame and Event Flows](https://mlsanity.com/paper/2108.05015/) (2021)
- [Event-aided Direct Sparse Odometry](https://mlsanity.com/paper/2204.07640/) (2022)
- [Revisiting Color-Event based Tracking: A Unified Network, Dataset, and Metric](https://mlsanity.com/paper/2211.11010/) (2022)
- [CMax-SLAM: Event-based Rotational-Motion Bundle Adjustment and SLAM System using Contrast Maximization](https://mlsanity.com/paper/2403.08119/) (2024)
- [EventPoint: Self-Supervised Interest Point Detection and Description for Event-based Camera](https://mlsanity.com/paper/2109.00210/) (2021)
- [PL-EVIO: Robust Monocular Event-based Visual Inertial Odometry with Point and Line Features](https://mlsanity.com/paper/2209.12160/) (2022)
- [Event-based Simultaneous Localization and Mapping: A Comprehensive Survey](https://mlsanity.com/paper/2304.09793/) (2023)
- [CRSOT: Cross-Resolution Object Tracking using Unaligned Frame and Event Cameras](https://mlsanity.com/paper/2401.02826/) (2024)
- [A 5-Point Minimal Solver for Event Camera Relative Motion Estimation](https://mlsanity.com/paper/2309.17054/) (2023)
- [An N-Point Linear Solver for Line and Motion Estimation with Event Cameras](https://mlsanity.com/paper/2404.00842/) (2024)
- [Table tennis ball spin estimation with an event camera](https://mlsanity.com/paper/2404.09870/) (2024)
- [Tight Fusion of Events and Inertial Measurements for Direct Velocity Estimation](https://mlsanity.com/paper/2401.09296/) (2024)
- [Event-Priori-Based Vision-Language Model for Efficient Visual Understanding](https://mlsanity.com/paper/2506.07627/) (2025)
- [EVIT: Event-based Visual-Inertial Tracking in Semi-Dense Maps Using Windowed Nonlinear Optimization](https://mlsanity.com/paper/2408.01370/) (2024)
- [Continuous-Time Gaussian Process Motion-Compensation for Event-vision Pattern Tracking with Distance Fields](https://mlsanity.com/paper/2303.02672/) (2023)
- [Event-based Camera Tracker by nablat NeRF](https://mlsanity.com/paper/2304.04559/) (2023)
- [Event-Based Visual Odometry on Non-Holonomic Ground Vehicles](https://mlsanity.com/paper/2401.09331/) (2024)
- [Fourier-based Action Recognition for Wildlife Behavior Quantification with Event Cameras](https://mlsanity.com/paper/2410.06698/) (2024)
- [Neural Implicit Event Generator for Motion Tracking](https://mlsanity.com/paper/2111.03824/) (2021)
- [GraphEnet: Event-driven Human Pose Estimation with a Graph Neural Network](https://mlsanity.com/paper/2510.07990/) (2025)
- [Radar and Event Camera Fusion for Agile Robot Ego-Motion Estimation](https://mlsanity.com/paper/2506.18443/) (2025)

## Abstract (arXiv)

Event cameras are bioinspired sensors with reaction times in the order of microseconds. This property makes them appealing for use in highly-dynamic computer vision applications. In this work,we explore the limits of this sensing technology and present an ultra-fast tracking algorithm able to estimate six-degree-of-freedom motion with dynamics over 25.8 g, at a throughput of 10 kHz,processing over a million events per second. Our method is capable of tracking either camera motion or the motion of an object in front of it, using an error-state Kalman filter formulated in a Lie-theoretic sense. The method includes a robust mechanism for the matching of events with projected line segments with very fast outlier rejection. Meticulous treatment of sparse matrices is applied to achieve real-time performance. Different motion models of varying complexity are considered for the sake of comparison and performance analysis