mlsanityData to 7 Oct 2026

How to Calibrate Your Event Camera

arXiv 2105.12362 ↗First posted 26 May 2021cs.CVcited by 53

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Abstract (arXiv)

We propose a generic event camera calibration framework using image reconstruction. Instead of relying on blinking LED patterns or external screens, we show that neural-network-based image reconstruction is well suited for the task of intrinsic and extrinsic calibration of event cameras. The advantage of our proposed approach is that we can use standard calibration patterns that do not rely on active illumination. Furthermore, our approach enables the possibility to perform extrinsic calibration between frame-based and event-based sensors without additional complexity. Both simulation and real-world experiments indicate that calibration through image reconstruction is accurate under common distortion models and a wide variety of distortion parameters

Key facts. Cited by 53 papers in the map (data through 7 Oct 2026). Builds on 6 of its 22 references that are in the map. First posted on arXiv 26 May 2021.

Builds on

6 of 22 references.

References · 6

  1. 2019Event-based Vision: A Surveycited by 1,010
  2. 2019High Speed and High Dynamic Range Video with an Event Cameracited by 344
  3. 2021DSEC: A Stereo Event Camera Dataset for Driving Scenarioscited by 297
  4. 2017Ultimate SLAM? Combining Events, Images, and IMU for Robust Visual SLAM in HDR and High Speed Scenarioscited by 150
  5. 2016Event-based, 6-DOF Camera Tracking from Photometric Depth Mapscited by 54
  6. 2020RGB-D-E: Event Camera Calibration for Fast 6-DOF Object Trackingcited by 12

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2021: 1; 2022: 7; 2023: 9; 2024: 14; 2025: 11; 2026: 11.

53 papers.

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  1. 2022Event-aided Direct Sparse Odometrycited by 91
  2. 2022E-NeRF: Neural Radiance Fields from a Moving Event Cameracited by 70
  3. 2022Multi-Bracket High Dynamic Range Imaging with Event Camerascited by 37
  4. 2024MUSES: The Multi-Sensor Semantic Perception Dataset for Driving under Uncertaintycited by 32
  5. 2023EVREAL: Towards a Comprehensive Benchmark and Analysis Suite for Event-based Video Reconstructioncited by 24
  6. 2022Multi-Event-Camera Depth Estimation and Outlier Rejection by Refocused Events Fusioncited by 21
  7. 2022L2E: Lasers to Events for 6-DoF Extrinsic Calibration of Lidars and Event Camerascited by 15
  8. 2021Event Guided Depth Sensingcited by 14
  9. 2023Event-based Continuous Color Video Decompression from Single Framescited by 14
  10. 2024Dataset and Benchmark: Novel Sensors for Autonomous Vehicle Perceptioncited by 14
  11. 2023SPADES: A Realistic Spacecraft Pose Estimation Dataset using Event Sensingcited by 13
  12. 2024TUMTraf Event: Calibration and Fusion Resulting in a Dataset for Roadside Event-Based and RGB Camerascited by 13
38 more
  1. 2023LCE-Calib: Automatic LiDAR-Frame/Event Camera Extrinsic Calibration With A Globally Optimal Solutioncited by 12
  2. 2023Event-based Background-Oriented Schlierencited by 11
  3. 2023E-Calib: A Fast, Robust and Accurate Calibration Toolbox for Event Camerascited by 9
  4. 2024Towards Real-Time Fast Unmanned Aerial Vehicle Detection Using Dynamic Vision Sensorscited by 9
  5. 2024ADV2E: Bridging the Gap Between Analogue Circuit and Discrete Frames in the Video-to-Events Simulatorcited by 7
  6. 2022Privacy-Preserving Visual Localization with Event Camerascited by 6
  7. 2023eWand: A calibration framework for wide baseline frame-based and event-based camera systemscited by 6
  8. 2024Tracking Any Point with Frame-Event Fusion Network at High Frame Ratecited by 6
  9. 2024EF-Calib: Spatiotemporal Calibration of Event- and Frame-Based Cameras Using Continuous-Time Trajectoriescited by 5
  10. 2024HUE Dataset: High-Resolution Event and Frame Sequences for Low-Light Visioncited by 5
  11. 2023Learning Parallax for Stereo Event-based Motion Deblurringcited by 4
  12. 2024X-maps: Direct Depth Lookup for Event-based Structured Light Systemscited by 4
  13. 2024LSE-NeRF: Learning Sensor Modeling Errors for Deblured Neural Radiance Fields with RGB-Event Stereocited by 4
  14. 2022IBISCape: A Simulated Benchmark for multi-modal SLAM Systems Evaluation in Large-scale Dynamic Environmentscited by 3
  15. 2024Event Cameras Meet SPADs for High-Speed, Low-Bandwidth Imagingcited by 3
  16. 2025A Monocular Event-Camera Motion Capture Systemcited by 3
  17. 2025eKalibr: Dynamic Intrinsic Calibration for Event Cameras From First Principles of Eventscited by 2
  18. 2025Low-Latency Event-Based Velocimetry for Quadrotor Control in a Narrow Pipecited by 2
  19. 2026DSERT-RoLL: Robust Multi-Modal Perception for Diverse Driving Conditions with Stereo Event-RGB-Thermal Cameras, 4D Radar, and Dual-LiDARcited by 2
  20. 2024Quantifying Noise of Dynamic Vision Sensorcited by 1
  21. 2024EI-Nexus: Towards Unmediated and Flexible Inter-Modality Local Feature Extraction and Matching for Event-Image Datacited by 1
  22. 2025SaENeRF: Suppressing Artifacts in Event-based Neural Radiance Fieldscited by 1
  23. 2025E-VLC: A Real-World Dataset for Event-based Visible Light Communication And Localizationcited by 1
  24. 2025One target to align them all: LiDAR, RGB and event cameras extrinsic calibration for Autonomous Drivingcited by 1
  25. 2026Event-Based Method for High-Speed 3D Deformation Measurement under Extreme Illumination Conditionscited by 1
  26. 2023Event Camera as Region Proposal Networkcited by 0
  27. 2024Characterization of dim light response in DVS pixel: Discontinuity of event triggering timecited by 0
  28. 2025Temporal and Rotational Calibration for Event-Centric Multi-Sensor Systemscited by 0
  29. 2025eKalibr-Inertial: Continuous-Time Spatiotemporal Calibration for Event-Based Visual-Inertial Systemscited by 0
  30. 2025Filter-Based Reconstruction of Images from Eventscited by 0
  31. 2025Autobiasing Event Cameras for Flickering Mitigationcited by 0
  32. 2025LECalib: Line-Based Event Camera Calibrationcited by 0
  33. 2026Frequency-domain Event-based Imaging for Selective Surveillancecited by 0
  34. 2026Event-driven dynamic trajectories reconstruction and measurement of mechanical parameters for fragmentscited by 0
  35. 2026Dense Force Estimation with an Event-based Optical Tactile Sensorcited by 0
  36. 20261000 Rallies: An Event-Camera Dataset and Real-Time Learned Ball-State Estimation for Robotic Table Tenniscited by 0
  37. 2026Event-based Gaze Control System for Accurate Real-time Spin Estimation in Professional Ball Gamescited by 0
  38. 2026SkyEV: RGB-Event UAV detection and tracking dataset and baselinecited by 0

50 most cited of 53 All 53 (JSON)