mlsanityData to 7 Oct 2026

Multi-Event-Camera Depth Estimation and Outlier Rejection by Refocused Events Fusion

arXiv 2207.10494 ↗First posted 21 Jul 2022cs.CV cs.RO eess.SPcited by 21

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Abstract (arXiv)

Event cameras are bio-inspired sensors that offer advantages over traditional cameras. They operate asynchronously, sampling the scene at microsecond resolution and producing a stream of brightness changes. This unconventional output has sparked novel computer vision methods to unlock the camera's potential. Here, the problem of event-based stereo 3D reconstruction for SLAM is considered. Most event-based stereo methods attempt to exploit the high temporal resolution of the camera and the simultaneity of events across cameras to establish matches and estimate depth. By contrast, this work investigates how to estimate depth without explicit data association by fusing Disparity Space Images (DSIs) originated in efficient monocular methods. Fusion theory is developed and applied to design multi-camera 3D reconstruction algorithms that produce state-of-the-art results, as confirmed by comparisons with four baseline methods and tests on a variety of available datasets.

Key facts. Cited by 21 papers in the map (data through 7 Oct 2026). Builds on 25 of its 86 references that are in the map. First posted on arXiv 21 Jul 2022.

Builds on

25 of 86 references.

References · 25

  1. 2019Event-based Vision: A Surveycited by 1,010
  2. 2021DSEC: A Stereo Event Camera Dataset for Driving Scenarioscited by 297
  3. 2018The Multi Vehicle Stereo Event Camera Dataset: An Event Camera Dataset for 3D Perceptioncited by 251
  4. 2018EV-FlowNet: Self-Supervised Optical Flow Estimation for Event-based Camerascited by 223
  5. 2016The Event-Camera Dataset and Simulator: Event-based Data for Pose Estimation, Visual Odometry, and SLAMcited by 203
  6. 2018A Unifying Contrast Maximization Framework for Event Cameras, with Applications to Motion, Depth, and Optical Flow Estimationcited by 178
  7. 2018Asynchronous, Photometric Feature Tracking using Events and Framescited by 118
  8. 2020Event-based Stereo Visual Odometrycited by 105
  9. 2021Self-Supervised Learning of Event-Based Optical Flow with Spiking Neural Networkscited by 99
  10. 2022Secrets of Event-Based Optical Flowcited by 92
  11. 2022Event-aided Direct Sparse Odometrycited by 91
  12. 2019Focus Is All You Need: Loss Functions For Event-based Visioncited by 83
13 more
  1. 2019Event-Based Motion Segmentation by Motion Compensationcited by 78
  2. 2018Semi-Dense 3D Reconstruction with a Stereo Event Cameracited by 67
  3. 2021How to Calibrate Your Event Cameracited by 53
  4. 2019Visual-Inertial Mapping with Non-Linear Factor Recoverycited by 48
  5. 2019EV-IMO: Motion Segmentation Dataset and Learning Pipeline for Event Camerascited by 46
  6. 2021TUM-VIE: The TUM Stereo Visual-Inertial Event Datasetcited by 41
  7. 2018FutureMapping: The Computational Structure of Spatial AI Systemscited by 35
  8. 2022Event Collapse in Contrast Maximization Frameworkscited by 33
  9. 2022EVIMO2: An Event Camera Dataset for Motion Segmentation, Optical Flow, Structure from Motion, and Visual Inertial Odometry in Indoor Scenes with Monocular or Stereo Algorithmscited by 31
  10. 2022Globally-Optimal Contrast Maximisation for Event Camerascited by 31
  11. 2018Realtime Time Synchronized Event-based Stereocited by 28
  12. 2021ESL: Event-based Structured Lightcited by 22
  13. 2022A Linear Comb Filter for Event Flicker Removalcited by 13

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 2; 2023: 5; 2024: 7; 2025: 5; 2026: 2.

21 papers.

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  1. 2024OpenESS: Event-based Semantic Scene Understanding with Open Vocabulariescited by 37
  2. 2024CMax-SLAM: Event-based Rotational-Motion Bundle Adjustment and SLAM System using Contrast Maximizationcited by 31
  3. 2024Event-based Stereo Depth Estimation: A Surveycited by 19
  4. 2023Event-based Simultaneous Localization and Mapping: A Comprehensive Surveycited by 17
  5. 2024ESVO2: Direct Visual-Inertial Odometry with Stereo Event Camerascited by 17
  6. 2022A Fast Geometric Regularizer to Mitigate Event Collapse in the Contrast Maximization Frameworkcited by 16
  7. 2023Event-based Continuous Color Video Decompression from Single Framescited by 14
  8. 2023EVI-SAM: Robust, Real-time, Tightly-coupled Event-Visual-Inertial State Estimation and 3D Dense Mappingcited by 9
  9. 2024ES-PTAM: Event-based Stereo Parallel Tracking and Mappingcited by 7
  10. 2023Density Invariant Contrast Maximization for Neuromorphic Earth Observationscited by 4
  11. 2023DH-PTAM: A Deep Hybrid Stereo Events-Frames Parallel Tracking And Mapping Systemcited by 4
  12. 2025DERD-Net: Learning Depth from Event-based Ray Densitiescited by 4
9 more
  1. 2025A Survey of 3D Reconstruction with Event Camerascited by 4
  2. 2022Event-based Stereo Depth Estimation from Ego-motion using Ray Density Fusioncited by 2
  3. 2024Fourier-based Action Recognition for Wildlife Behavior Quantification with Event Camerascited by 2
  4. 2025A Survey on Event-driven 3D Reconstruction: Development under Different Categoriescited by 2
  5. 2024Active Event Alignment for Monocular Distance Estimationcited by 1
  6. 2025EvtSlowTV -- A Large and Diverse Dataset for Event-Based Depth Estimationcited by 1
  7. 2025DELTA: Dense Depth from Events and LiDAR using Transformer's Attentioncited by 0
  8. 2026Event-based Photometric Stereo via Rotating Illumination and Per-Pixel Learningcited by 0
  9. 2026EventHub: Data Factory for Generalizable Event-Based Stereo Networks without Active Sensorscited by 0