mlsanityData to 14 Oct 2026

Globally Optimal Event-Based Divergence Estimation for Ventral Landing

arXiv 2209.13168 ↗First posted 27 Sep 2022cs.CVcited by 9

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Abstract (arXiv)

Event sensing is a major component in bio-inspired flight guidance and control systems. We explore the usage of event cameras for predicting time-to-contact (TTC) with the surface during ventral landing. This is achieved by estimating divergence (inverse TTC), which is the rate of radial optic flow, from the event stream generated during landing. Our core contributions are a novel contrast maximisation formulation for event-based divergence estimation, and a branch-and-bound algorithm to exactly maximise contrast and find the optimal divergence value. GPU acceleration is conducted to speed up the global algorithm. Another contribution is a new dataset containing real event streams from ventral landing that was employed to test and benchmark our method. Owing to global optimisation, our algorithm is much more capable at recovering the true divergence, compared to other heuristic divergence estimators or event-based optic flow methods. With GPU acceleration, our method also achieves competitive runtimes.

Key facts. Cited by 9 papers in the map (data through 14 Oct 2026). Builds on 25 of its 60 references that are in the map. First posted on arXiv 27 Sep 2022.

Builds on

25 of 60 references.

References · 25

  1. 2019High Speed and High Dynamic Range Video with an Event Cameracited by 345
  2. 2018Unsupervised Event-based Learning of Optical Flow, Depth, and Egomotioncited by 307
  3. 2018EV-FlowNet: Self-Supervised Optical Flow Estimation for Event-based Camerascited by 224
  4. 2019End-to-End Learning of Representations for Asynchronous Event-Based Datacited by 217
  5. 2019Events-to-Video: Bringing Modern Computer Vision to Event Camerascited by 193
  6. 2018A Unifying Contrast Maximization Framework for Event Cameras, with Applications to Motion, Depth, and Optical Flow Estimationcited by 178
  7. 2021E-RAFT: Dense Optical Flow from Event Camerascited by 152
  8. 2017Ultimate SLAM? Combining Events, Images, and IMU for Robust Visual SLAM in HDR and High Speed Scenarioscited by 150
  9. 2020Back to Event Basics: Self-Supervised Learning of Image Reconstruction for Event Cameras via Photometric Constancycited by 125
  10. 2021Self-Supervised Learning of Event-Based Optical Flow with Spiking Neural Networkscited by 99
  11. 2020Spike-FlowNet: Event-based Optical Flow Estimation with Energy-Efficient Hybrid Neural Networkscited by 98
  12. 2019Event-Based Motion Segmentation by Motion Compensationcited by 78
13 more
  1. 2020Event-based Motion Segmentation with Spatio-Temporal Graph Cutscited by 50
  2. 2021Spatio-Temporal Recurrent Networks for Event-Based Optical Flow Estimationcited by 50
  3. 2018Unsupervised Learning of a Hierarchical Spiking Neural Network for Optical Flow Estimation: From Events to Global Motion Perceptioncited by 48
  4. 2019EVDodgeNet: Deep Dynamic Obstacle Dodging with Event Camerascited by 46
  5. 2020Single Image Optical Flow Estimation with an Event Cameracited by 34
  6. 2020Globally Optimal Contrast Maximisation for Event-based Motion Estimationcited by 33
  7. 2018Star Tracking using an Event Cameracited by 30
  8. 2020Distance Surface for Event-Based Optical Flowcited by 29
  9. 2018Simultaneous Optical Flow and Segmentation (SOFAS) using Dynamic Vision Sensorcited by 21
  10. 2017Spiking Optical Flow for Event-based Sensors Using IBM's TrueNorth Neurosynaptic Systemcited by 14
  11. 2017Vertical Landing for Micro Air Vehicles using Event-Based Optical Flowcited by 12
  12. 2022Globally-Optimal Event Camera Motion Estimationcited by 10
  13. 2021FAITH: Fast iterative half-plane focus of expansion estimation using event-based optic flowcited by 5

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2022: 1; 2023: 2; 2024: 3; 2025: 2; 2026: 1.

9 papers.

  1. 2024CMax-SLAM: Event-based Rotational-Motion Bundle Adjustment and SLAM System using Contrast Maximizationcited by 31
  2. 2022Neuromorphic Computing and Sensing in Spacecited by 10
  3. 2024Event-Aided Time-to-Collision Estimation for Autonomous Drivingcited by 8
  4. 2023Density Invariant Contrast Maximization for Neuromorphic Earth Observationscited by 4
  5. 2023On the Generation of a Synthetic Event-Based Vision Dataset for Navigation and Landingcited by 4
  6. 2024Test-Time Certifiable Self-Supervision to Bridge the Sim2Real Gap in Event-Based Satellite Pose Estimationcited by 3
  7. 2025Spiking monocular event based 6D pose estimation for space applicationcited by 3
  8. 2025Event-RGB Fusion for Spacecraft Pose Estimation Under Harsh Lightingcited by 1
  9. 2026REACT: A Fully Spiking State-Space Model for Real-Time Event-Driven Temporal Perceptioncited by 0