mlsanityData to 7 Oct 2026

DEVO: Depth-Event Camera Visual Odometry in Challenging Conditions

arXiv 2202.02556 ↗First posted 5 Feb 2022cs.RO cs.CVcited by 36

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Abstract (arXiv)

We present a novel real-time visual odometry framework for a stereo setup of a depth and high-resolution event camera. Our framework balances accuracy and robustness against computational efficiency towards strong performance in challenging scenarios. We extend conventional edge-based semi-dense visual odometry towards time-surface maps obtained from event streams. Semi-dense depth maps are generated by warping the corresponding depth values of the extrinsically calibrated depth camera. The tracking module updates the camera pose through efficient, geometric semi-dense 3D-2D edge alignment. Our approach is validated on both public and self-collected datasets captured under various conditions. We show that the proposed method performs comparable to state-of-the-art RGB-D camera-based alternatives in regular conditions, and eventually outperforms in challenging conditions such as high dynamics or low illumination.

Key facts. Cited by 36 papers in the map (data through 7 Oct 2026). Builds on 9 of its 31 references that are in the map. First posted on arXiv 5 Feb 2022.

Builds on

9 of 31 references.

References · 9

  1. 2019Event-based Vision: A Surveycited by 1,010
  2. 2016Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Agecited by 405
  3. 2018The Multi Vehicle Stereo Event Camera Dataset: An Event Camera Dataset for 3D Perceptioncited by 251
  4. 2017Ultimate SLAM? Combining Events, Images, and IMU for Robust Visual SLAM in HDR and High Speed Scenarioscited by 150
  5. 2020Event-based Stereo Visual Odometrycited by 105
  6. 2019Focus Is All You Need: Loss Functions For Event-based Visioncited by 83
  7. 2020Globally Optimal Contrast Maximisation for Event-based Motion Estimationcited by 33
  8. 2020Canny-VO: Visual Odometry with RGB-D Cameras based on Geometric 3D-2D Edge Alignmentcited by 12
  9. 2019Neuromorphic Visual Odometry System for Intelligent Vehicle Application with Bio-inspired Vision Sensorcited by 11

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 3; 2023: 12; 2024: 12; 2025: 8; 2026: 1.

36 papers.

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  1. 2022EventNeRF: Neural Radiance Fields from a Single Colour Event Cameracited by 92
  2. 2022E-NeRF: Neural Radiance Fields from a Moving Event Cameracited by 70
  3. 2024Recent Event Camera Innovations: A Surveycited by 67
  4. 2023SODFormer: Streaming Object Detection with Transformer Using Events and Framescited by 39
  5. 2023Deep Event Visual Odometrycited by 29
  6. 2023Neuromorphic Event-based Facial Expression Recognitioncited by 18
  7. 2024Ev-GS: Event-based Gaussian splatting for Efficient and Accurate Radiance Field Renderingcited by 18
  8. 2023Event-based Simultaneous Localization and Mapping: A Comprehensive Surveycited by 17
  9. 2023EvDNeRF: Reconstructing Event Data with Dynamic Neural Radiance Fieldscited by 17
  10. 2023Implicit Event-RGBD Neural SLAMcited by 16
  11. 2023Deep Visual Odometry with Events and Framescited by 13
  12. 2023A 5-Point Minimal Solver for Event Camera Relative Motion Estimationcited by 13
24 more
  1. 2024An N-Point Linear Solver for Line and Motion Estimation with Event Camerascited by 11
  2. 2024SweepEvGS: Event-Based 3D Gaussian Splatting for Macro and Micro Radiance Field Rendering from a Single Sweepcited by 10
  3. 2023EVI-SAM: Robust, Real-time, Tightly-coupled Event-Visual-Inertial State Estimation and 3D Dense Mappingcited by 9
  4. 2024Cross-Modal Semi-Dense 6-DoF Tracking of an Event Camera in Challenging Conditionscited by 9
  5. 2023Event-Free Moving Object Segmentation from Moving Ego Vehiclecited by 8
  6. 2024EventRPG: Event Data Augmentation with Relevance Propagation Guidancecited by 7
  7. 2024ES-PTAM: Event-based Stereo Parallel Tracking and Mappingcited by 7
  8. 2024Tight Fusion of Events and Inertial Measurements for Direct Velocity Estimationcited by 6
  9. 2023Event Camera-based Visual Odometry for Dynamic Motion Tracking of a Legged Robot Using Adaptive Time Surfacecited by 5
  10. 2025Dark-EvGS: Event Camera as an Eye for Radiance Field in the Darkcited by 5
  11. 2024GS-EVT: Cross-Modal Event Camera Tracking based on Gaussian Splattingcited by 4
  12. 2025A Survey of 3D Reconstruction with Event Camerascited by 4
  13. 2024EVIT: Event-based Visual-Inertial Tracking in Semi-Dense Maps Using Windowed Nonlinear Optimizationcited by 3
  14. 2025Hardware, Algorithms, and Applications of the Neuromorphic Vision Sensor: a Reviewcited by 3
  15. 2025EAG3R: Event-Augmented 3D Geometry Estimation for Dynamic and Extreme-Lighting Scenescited by 3
  16. 2024Event-Based Visual Odometry on Non-Holonomic Ground Vehiclescited by 2
  17. 2025A Survey on Event-driven 3D Reconstruction: Development under Different Categoriescited by 2
  18. 2022Ego-motion Estimation Based on Fusion of Images and Eventscited by 1
  19. 2023Cross-modal Place Recognition in Image Databases using Event-based Sensorscited by 1
  20. 2024Monocular Event-Inertial Odometry with Adaptive decay-based Time Surface and Polarity-aware Trackingcited by 1
  21. 2025SaENeRF: Suppressing Artifacts in Event-based Neural Radiance Fieldscited by 1
  22. 2025SuperEIO: Self-Supervised Event Feature Learning for Event Inertial Odometrycited by 0
  23. 2025S3CE-Net: Spike-guided Spatiotemporal Semantic Coupling and Expansion Network for Long Sequence Event Re-Identificationcited by 0
  24. 2026CMTFormer: Marrying Transformer with Hierarchical Information Interaction for RGB-Event Object Detectioncited by 0