# DEVO: Depth-Event Camera Visual Odometry in Challenging Conditions arXiv: https://arxiv.org/abs/2202.02556 ยท HTML: https://mlsanity.com/paper/2202.02556/ ## Key facts - Cited by 36 papers in the map (data through 14 Oct 2026). - Builds on 9 of its 31 references that are in the map. - First posted on arXiv 5 Feb 2022. ## Builds on (most cited first, 9 of 9) - [Event-based Vision: A Survey](https://mlsanity.com/paper/1904.08405/) (2019) - [Past, Present, and Future of Simultaneous Localization And Mapping: Towards the Robust-Perception Age](https://mlsanity.com/paper/1606.05830/) (2016) - [The Multi Vehicle Stereo Event Camera Dataset: An Event Camera Dataset for 3D Perception](https://mlsanity.com/paper/1801.10202/) (2018) - [Ultimate SLAM? Combining Events, Images, and IMU for Robust Visual SLAM in HDR and High Speed Scenarios](https://mlsanity.com/paper/1709.06310/) (2017) - [Event-based Stereo Visual Odometry](https://mlsanity.com/paper/2007.15548/) (2020) - [Focus Is All You Need: Loss Functions For Event-based Vision](https://mlsanity.com/paper/1904.07235/) (2019) - [Globally Optimal Contrast Maximisation for Event-based Motion Estimation](https://mlsanity.com/paper/2002.10686/) (2020) - [Canny-VO: Visual Odometry with RGB-D Cameras based on Geometric 3D-2D Edge Alignment](https://mlsanity.com/paper/2012.08228/) (2020) - [Neuromorphic Visual Odometry System for Intelligent Vehicle Application with Bio-inspired Vision Sensor](https://mlsanity.com/paper/1909.02490/) (2019) ## Built on by (most cited first, 30 of 36) - [EventNeRF: Neural Radiance Fields from a Single Colour Event Camera](https://mlsanity.com/paper/2206.11896/) (2022) - [E-NeRF: Neural Radiance Fields from a Moving Event Camera](https://mlsanity.com/paper/2208.11300/) (2022) - [Recent Event Camera Innovations: A Survey](https://mlsanity.com/paper/2408.13627/) (2024) - [SODFormer: Streaming Object Detection with Transformer Using Events and Frames](https://mlsanity.com/paper/2308.04047/) (2023) - [Deep Event Visual Odometry](https://mlsanity.com/paper/2312.09800/) (2023) - [Neuromorphic Event-based Facial Expression Recognition](https://mlsanity.com/paper/2304.06351/) (2023) - [Ev-GS: Event-based Gaussian splatting for Efficient and Accurate Radiance Field Rendering](https://mlsanity.com/paper/2407.11343/) (2024) - [Event-based Simultaneous Localization and Mapping: A Comprehensive Survey](https://mlsanity.com/paper/2304.09793/) (2023) - [EvDNeRF: Reconstructing Event Data with Dynamic Neural Radiance Fields](https://mlsanity.com/paper/2310.02437/) (2023) - [Implicit Event-RGBD Neural SLAM](https://mlsanity.com/paper/2311.11013/) (2023) - [Deep Visual Odometry with Events and Frames](https://mlsanity.com/paper/2309.09947/) (2023) - [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) - [SweepEvGS: Event-Based 3D Gaussian Splatting for Macro and Micro Radiance Field Rendering from a Single Sweep](https://mlsanity.com/paper/2412.11579/) (2024) - [EVI-SAM: Robust, Real-time, Tightly-coupled Event-Visual-Inertial State Estimation and 3D Dense Mapping](https://mlsanity.com/paper/2312.11911/) (2023) - [Cross-Modal Semi-Dense 6-DoF Tracking of an Event Camera in Challenging Conditions](https://mlsanity.com/paper/2401.08043/) (2024) - [Event-Free Moving Object Segmentation from Moving Ego Vehicle](https://mlsanity.com/paper/2305.00126/) (2023) - [EventRPG: Event Data Augmentation with Relevance Propagation Guidance](https://mlsanity.com/paper/2403.09274/) (2024) - [ES-PTAM: Event-based Stereo Parallel Tracking and Mapping](https://mlsanity.com/paper/2408.15605/) (2024) - [Tight Fusion of Events and Inertial Measurements for Direct Velocity Estimation](https://mlsanity.com/paper/2401.09296/) (2024) - [Event Camera-based Visual Odometry for Dynamic Motion Tracking of a Legged Robot Using Adaptive Time Surface](https://mlsanity.com/paper/2305.08962/) (2023) - [A Survey of 3D Reconstruction with Event Cameras](https://mlsanity.com/paper/2505.08438/) (2025) - [Dark-EvGS: Event Camera as an Eye for Radiance Field in the Dark](https://mlsanity.com/paper/2507.11931/) (2025) - [GS-EVT: Cross-Modal Event Camera Tracking based on Gaussian Splatting](https://mlsanity.com/paper/2409.19228/) (2024) - [EVIT: Event-based Visual-Inertial Tracking in Semi-Dense Maps Using Windowed Nonlinear Optimization](https://mlsanity.com/paper/2408.01370/) (2024) - [Hardware, Algorithms, and Applications of the Neuromorphic Vision Sensor: a Review](https://mlsanity.com/paper/2504.08588/) (2025) - [EAG3R: Event-Augmented 3D Geometry Estimation for Dynamic and Extreme-Lighting Scenes](https://mlsanity.com/paper/2512.00771/) (2025) - [Event-Based Visual Odometry on Non-Holonomic Ground Vehicles](https://mlsanity.com/paper/2401.09331/) (2024) - [A Survey on Event-driven 3D Reconstruction: Development under Different Categories](https://mlsanity.com/paper/2503.19753/) (2025) - [Ego-motion Estimation Based on Fusion of Images and Events](https://mlsanity.com/paper/2207.05588/) (2022) ## 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.