mlsanityData to 14 Oct 2026

Event-aided Direct Sparse Odometry

arXiv 2204.07640 ↗First posted 15 Apr 2022cs.CVcited by 92

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Abstract (arXiv)

We introduce EDS, a direct monocular visual odometry using events and frames. Our algorithm leverages the event generation model to track the camera motion in the blind time between frames. The method formulates a direct probabilistic approach of observed brightness increments. Per-pixel brightness increments are predicted using a sparse number of selected 3D points and are compared to the events via the brightness increment error to estimate camera motion. The method recovers a semi-dense 3D map using photometric bundle adjustment. EDS is the first method to perform 6-DOF VO using events and frames with a direct approach. By design, it overcomes the problem of changing appearance in indirect methods. We also show that, for a target error performance, EDS can work at lower frame rates than state-of-the-art frame-based VO solutions. This opens the door to low-power motion-tracking applications where frames are sparingly triggered "on demand" and our method tracks the motion in between. We release code and datasets to the public.

Key facts. Cited by 92 papers in the map (data through 14 Oct 2026). Builds on 25 of its 69 references that are in the map. First posted on arXiv 15 Apr 2022.

Builds on

25 of 69 references.

References · 25

  1. 2019Towards Robust Monocular Depth Estimation: Mixing Datasets for Zero-shot Cross-dataset Transfercited by 1,495
  2. 2019Event-based Vision: A Surveycited by 1,016
  3. 2015ORB-SLAM: a Versatile and Accurate Monocular SLAM Systemcited by 988
  4. 2016ORB-SLAM2: an Open-Source SLAM System for Monocular, Stereo and RGB-D Camerascited by 806
  5. 2016Direct Sparse Odometrycited by 485
  6. 2019High Speed and High Dynamic Range Video with an Event Cameracited by 345
  7. 2018Unsupervised Event-based Learning of Optical Flow, Depth, and Egomotioncited by 307
  8. 2021DSEC: A Stereo Event Camera Dataset for Driving Scenarioscited by 303
  9. 2016The Event-Camera Dataset and Simulator: Event-based Data for Pose Estimation, Visual Odometry, and SLAMcited by 203
  10. 2018A Unifying Contrast Maximization Framework for Event Cameras, with Applications to Motion, Depth, and Optical Flow Estimationcited by 178
  11. 2017Ultimate SLAM? Combining Events, Images, and IMU for Robust Visual SLAM in HDR and High Speed Scenarioscited by 150
  12. 2021Learning High-Speed Flight in the Wildcited by 128
13 more
  1. 2018Asynchronous, Photometric Feature Tracking using Events and Framescited by 118
  2. 2020Event-based Stereo Visual Odometrycited by 105
  3. 2015On-Manifold Preintegration for Real-Time Visual-Inertial Odometrycited by 95
  4. 2021Combining Events and Frames using Recurrent Asynchronous Multimodal Networks for Monocular Depth Predictioncited by 90
  5. 2018Continuous-time Intensity Estimation Using Event Camerascited by 68
  6. 2018Semi-Dense 3D Reconstruction with a Stereo Event Cameracited by 67
  7. 2016Event-based, 6-DOF Camera Tracking from Photometric Depth Mapscited by 54
  8. 2021How to Calibrate Your Event Cameracited by 53
  9. 2021TUM-VIE: The TUM Stereo Visual-Inertial Event Datasetcited by 41
  10. 2018FutureMapping: The Computational Structure of Spatial AI Systemscited by 36
  11. 2015Event-based Camera Pose Tracking using a Generative Event Modelcited by 23
  12. 2020High Speed Event Camera TRackingcited by 21
  13. 2017Real-Time Panoramic Tracking for Event Camerascited by 16

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2022: 7; 2023: 21; 2024: 35; 2025: 14; 2026: 15.

92 papers.

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  1. 2023Deep Learning for Event-based Vision: A Comprehensive Survey and Benchmarkscited by 90
  2. 2022E-NeRF: Neural Radiance Fields from a Moving Event Cameracited by 70
  3. 2024Recent Event Camera Innovations: A Surveycited by 68
  4. 2022Ev-NeRF: Event Based Neural Radiance Fieldcited by 59
  5. 2023Robust e-NeRF: NeRF from Sparse & Noisy Events under Non-Uniform Motioncited by 44
  6. 2024OpenESS: Event-based Semantic Scene Understanding with Open Vocabulariescited by 38
  7. 2023Deformable Neural Radiance Fields using RGB and Event Camerascited by 31
  8. 2023Deep Event Visual Odometrycited by 29
  9. 2022Multi-Event-Camera Depth Estimation and Outlier Rejection by Refocused Events Fusioncited by 21
  10. 2023Generalizing Event-Based Motion Deblurring in Real-World Scenarioscited by 20
  11. 2024Event-based Stereo Depth Estimation: A Surveycited by 19
  12. 2024Ev-GS: Event-based Gaussian splatting for Efficient and Accurate Radiance Field Renderingcited by 18
38 more
  1. 2023Event-based Simultaneous Localization and Mapping: A Comprehensive Surveycited by 17
  2. 2024Microsaccade-inspired Event Camera for Roboticscited by 17
  3. 2023Implicit Event-RGBD Neural SLAMcited by 16
  4. 2023Event-based Continuous Color Video Decompression from Single Framescited by 15
  5. 2024BeNeRF: Neural Radiance Fields from a Single Blurry Image and Event Streamcited by 15
  6. 2024EF-3DGS: Event-Aided Free-Trajectory 3D Gaussian Splattingcited by 15
  7. 2023Deep Visual Odometry with Events and Framescited by 13
  8. 2023A 5-Point Minimal Solver for Event Camera Relative Motion Estimationcited by 13
  9. 2024BlinkVision: A Benchmark for Optical Flow, Scene Flow and Point Tracking Estimation using RGB Frames and Eventscited by 13
  10. 2022Data-Driven Feature Tracking for Event Cameras With and Without Framescited by 12
  11. 2024EventSplat: 3D Gaussian Splatting from Moving Event Cameras for Real-time Renderingcited by 12
  12. 2023Event-based Background-Oriented Schlierencited by 11
  13. 2024An N-Point Linear Solver for Line and Motion Estimation with Event Camerascited by 11
  14. 2023SoDaCam: Software-defined Cameras via Single-Photon Imagingcited by 10
  15. 2024Deblur e-NeRF: NeRF from Motion-Blurred Events under High-speed or Low-light Conditionscited by 10
  16. 2025EventFly: Event Camera Perception from Ground to the Skycited by 10
  17. 2023Real-time 6-DoF Pose Estimation by an Event-based Camera using Active LED Markerscited by 9
  18. 2023EVI-SAM: Robust, Real-time, Tightly-coupled Event-Visual-Inertial State Estimation and 3D Dense Mappingcited by 9
  19. 2024Cross-Modal Semi-Dense 6-DoF Tracking of an Event Camera in Challenging Conditionscited by 9
  20. 2024ETAP: Event-based Tracking of Any Pointcited by 9
  21. 2025E-3DGS: Event-Based Novel View Rendering of Large-Scale Scenes Using 3D Gaussian Splattingcited by 9
  22. 2024Event-Aided Time-to-Collision Estimation for Autonomous Drivingcited by 8
  23. 2022Real-time event simulation with frame-based camerascited by 7
  24. 2024PCDepth: Pattern-based Complementary Learning for Monocular Depth Estimation by Best of Both Worldscited by 7
  25. 2024Noise2Image: Noise-Enabled Static Scene Recovery for Event Camerascited by 7
  26. 2024Generalized Event Camerascited by 7
  27. 2024ES-PTAM: Event-based Stereo Parallel Tracking and Mappingcited by 7
  28. 2025MUT3R: Motion-aware Updating Transformer for Dynamic 3D Reconstructioncited by 7
  29. 2022Stereo Co-capture System for Recording and Tracking Fish with Frame- and Event Camerascited by 6
  30. 2022Privacy-Preserving Visual Localization with Event Camerascited by 6
  31. 2023eWand: A calibration framework for wide baseline frame-based and event-based camera systemscited by 6
  32. 2024Tight Fusion of Events and Inertial Measurements for Direct Velocity Estimationcited by 6
  33. 2024Tracking Any Point with Frame-Event Fusion Network at High Frame Ratecited by 6
  34. 2025SuperEvent: Cross-Modal Learning of Event-based Keypoint Detection for SLAMcited by 6
  35. 2025GS2E: Gaussian Splatting is an Effective Data Generator for Event Stream Generationcited by 6
  36. 2025Talk2Event: Grounded Understanding of Dynamic Scenes from Event Camerascited by 6
  37. 2023Event Camera-based Visual Odometry for Dynamic Motion Tracking of a Legged Robot Using Adaptive Time Surfacecited by 5
  38. 2024MouseSIS: A Frames-and-Events Dataset for Space-Time Instance Segmentation of Micecited by 5

50 most cited of 92 All 92 (JSON)