mlsanityData to 7 Oct 2026

Comparing Representations in Tracking for Event Camera-based SLAM

arXiv 2104.09887 ↗First posted 20 Apr 2021cs.CV cs.ROcited by 23

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Abstract (arXiv)

This paper investigates two typical image-type representations for event camera-based tracking: time surface (TS) and event map (EM). Based on the original TS-based tracker, we make use of these two representations' complementary strengths to develop an enhanced version. The proposed tracker consists of a general strategy to evaluate the optimization problem's degeneracy online and then switch proper representations. Both TS and EM are motion- and scene-dependent, and thus it is important to figure out their limitations in tracking. We develop six tracker variations and conduct a thorough comparison of them on sequences covering various scenarios and motion complexities. We release our implementations and detailed results to benefit the research community on event cameras: https: //github.com/gogojjh/ESVO_extension.

Key facts. Cited by 23 papers in the map (data through 7 Oct 2026). Builds on 15 of its 33 references that are in the map. First posted on arXiv 20 Apr 2021.

Builds on

15 of 33 references.

References · 15

  1. 2019Event-based Vision: A Surveycited by 1,010
  2. 2017VINS-Mono: A Robust and Versatile Monocular Visual-Inertial State Estimatorcited by 418
  3. 2019High Speed and High Dynamic Range Video with an Event Cameracited by 344
  4. 2018The Multi Vehicle Stereo Event Camera Dataset: An Event Camera Dataset for 3D Perceptioncited by 251
  5. 2019Events-to-Video: Bringing Modern Computer Vision to Event Camerascited by 191
  6. 2018A Unifying Contrast Maximization Framework for Event Cameras, with Applications to Motion, Depth, and Optical Flow Estimationcited by 178
  7. 2017Ultimate SLAM? Combining Events, Images, and IMU for Robust Visual SLAM in HDR and High Speed Scenarioscited by 150
  8. 2018Bringing a Blurry Frame Alive at High Frame-Rate with an Event Cameracited by 141
  9. 2020Event-based Stereo Visual Odometrycited by 105
  10. 2017Continuous-Time Visual-Inertial Odometry for Event Camerascited by 57
  11. 2016Event-based, 6-DOF Camera Tracking from Photometric Depth Mapscited by 54
  12. 2020Globally Optimal Contrast Maximisation for Event-based Motion Estimationcited by 33
3 more
  1. 2017Quaternion kinematics for the error-state Kalman filtercited by 30
  2. 2020IDOL: A Framework for IMU-DVS Odometry using Linescited by 27
  3. 2020Canny-VO: Visual Odometry with RGB-D Cameras based on Geometric 3D-2D Edge Alignmentcited by 12

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Cited by year

Citing papers per year: 2021: 3; 2022: 6; 2023: 7; 2024: 6; 2025: 1.

23 papers.

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  1. 2023Deep Learning for Event-based Vision: A Comprehensive Survey and Benchmarkscited by 90
  2. 2024Recent Event Camera Innovations: A Surveycited by 67
  3. 2022Ev-NeRF: Event Based Neural Radiance Fieldcited by 59
  4. 2024CMax-SLAM: Event-based Rotational-Motion Bundle Adjustment and SLAM System using Contrast Maximizationcited by 31
  5. 2023Neuromorphic Event-based Facial Expression Recognitioncited by 18
  6. 2022How Many Events do You Need? Event-based Visual Place Recognition Using Sparse But Varying Pixelscited by 17
  7. 2024SEVD: Synthetic Event-based Vision Dataset for Ego and Fixed Traffic Perceptioncited by 15
  8. 2021Visual Odometry with an Event Camera Using Continuous Ray Warping and Volumetric Contrast Maximizationcited by 14
  9. 2021Dynamic Event Camera Calibrationcited by 14
  10. 2023LCE-Calib: Automatic LiDAR-Frame/Event Camera Extrinsic Calibration With A Globally Optimal Solutioncited by 12
  11. 2024MambaEVT: Event Stream based Visual Object Tracking using State Space Modelcited by 11
  12. 2022Visual SLAM: What are the Current Trends and What to Expect?cited by 10
11 more
  1. 2023EventTransAct: A video transformer-based framework for Event-camera based action recognitioncited by 10
  2. 2023Neuromorphic High-Frequency 3D Dancing Pose Estimation in Dynamic Environmentcited by 8
  3. 2023Distractor-aware Event-based Trackingcited by 8
  4. 2024EvRepSL: Event-Stream Representation via Self-Supervised Learning for Event-Based Visioncited by 8
  5. 2022Special Session: Towards an Agile Design Methodology for Efficient, Reliable, and Secure ML Systemscited by 6
  6. 2022Privacy-Preserving Visual Localization with Event Camerascited by 6
  7. 2021Research on Event Accumulator Settings for Event-Based SLAMcited by 5
  8. 2025PRE-Mamba: A 4D State Space Model for Ultra-High-Frequent Event Camera Derainingcited by 5
  9. 2023Continuous-Time Gaussian Process Motion-Compensation for Event-vision Pattern Tracking with Distance Fieldscited by 2
  10. 2022Ego-motion Estimation Based on Fusion of Images and Eventscited by 1
  11. 2024Low-Latency Scalable Streaming for Event-Based Visioncited by 1