# Tracking 6-DoF Object Motion from Events and Frames

arXiv: https://arxiv.org/abs/2103.15568 · HTML: https://mlsanity.com/paper/2103.15568/

## Key facts

- Cited by 4 papers in the map (data through 14 Oct 2026).
- Builds on 7 of its 21 references that are in the map.
- First posted on arXiv 29 Mar 2021.

## Builds on (most cited first, 7 of 7)

- [ShapeNet: An Information-Rich 3D Model Repository](https://mlsanity.com/paper/1512.03012/) (2015)
- [Event-based Vision: A Survey](https://mlsanity.com/paper/1904.08405/) (2019)
- [Direct Sparse Odometry](https://mlsanity.com/paper/1607.02565/) (2016)
- [Event-based Moving Object Detection and Tracking](https://mlsanity.com/paper/1803.04523/) (2018)
- [EV-IMO: Motion Segmentation Dataset and Learning Pipeline for Event Cameras](https://mlsanity.com/paper/1903.07520/) (2019)
- [RGB-D-E: Event Camera Calibration for Fast 6-DOF Object Tracking](https://mlsanity.com/paper/2006.05011/) (2020)
- [Independent Motion Detection with Event-driven Cameras](https://mlsanity.com/paper/1706.08713/) (2017)

## Built on by (most cited first, 4 of 4)

- [V2CE: Video to Continuous Events Simulator](https://mlsanity.com/paper/2309.08891/) (2023)
- [Event-based Non-Rigid Reconstruction from Contours](https://mlsanity.com/paper/2210.06270/) (2022)
- [Generalized Event Cameras](https://mlsanity.com/paper/2407.02683/) (2024)
- [Event-based Motion & Appearance Fusion for 6D Object Pose Tracking](https://mlsanity.com/paper/2603.08264/) (2026)

## Abstract (arXiv)

Event cameras are promising devices for lowlatency tracking and high-dynamic range imaging. In this paper,we propose a novel approach for 6 degree-of-freedom (6-DoF)object motion tracking that combines measurements of eventand frame-based cameras. We formulate tracking from highrate events with a probabilistic generative model of the eventmeasurement process of the object. On a second layer, we refinethe object trajectory in slower rate image frames through directimage alignment. We evaluate the accuracy of our approach inseveral object tracking scenarios with synthetic data, and alsoperform experiments with real data.