# ESVIO: Event-based Stereo Visual Inertial Odometry

arXiv: https://arxiv.org/abs/2212.13184 · HTML: https://mlsanity.com/paper/2212.13184/

## Key facts

- Cited by 33 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 26 Dec 2022.

## Built on by (most cited first, 30 of 33)

- [Deep Learning for Event-based Vision: A Comprehensive Survey and Benchmarks](https://mlsanity.com/paper/2302.08890/) (2023)
- [Deep Event Visual Odometry](https://mlsanity.com/paper/2312.09800/) (2023)
- [Event-based Stereo Depth Estimation: A Survey](https://mlsanity.com/paper/2409.17680/) (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)
- [Microsaccade-inspired Event Camera for Robotics](https://mlsanity.com/paper/2405.17769/) (2024)
- [ESVO2: Direct Visual-Inertial Odometry with Stereo Event Cameras](https://mlsanity.com/paper/2410.09374/) (2024)
- [Deep Visual Odometry with Events and Frames](https://mlsanity.com/paper/2309.09947/) (2023)
- [EVI-SAM: Robust, Real-time, Tightly-coupled Event-Visual-Inertial State Estimation and 3D Dense Mapping](https://mlsanity.com/paper/2312.11911/) (2023)
- [EventRPG: Event Data Augmentation with Relevance Propagation Guidance](https://mlsanity.com/paper/2403.09274/) (2024)
- [Event-based Stereo Visual Odometry with Native Temporal Resolution via Continuous-time Gaussian Process Regression](https://mlsanity.com/paper/2306.01188/) (2023)
- [Event Camera Meets Mobile Embodied Perception: Abstraction, Algorithm, Acceleration, Application](https://mlsanity.com/paper/2503.22943/) (2025)
- [SuperEvent: Cross-Modal Learning of Event-based Keypoint Detection for SLAM](https://mlsanity.com/paper/2504.00139/) (2025)
- [GS2E: Gaussian Splatting is an Effective Data Generator for Event Stream Generation](https://mlsanity.com/paper/2505.15287/) (2025)
- [Beyond conventional vision: RGB-event fusion for robust object detection in dynamic traffic scenarios](https://mlsanity.com/paper/2508.10704/) (2025)
- [Event Camera-based Visual Odometry for Dynamic Motion Tracking of a Legged Robot Using Adaptive Time Surface](https://mlsanity.com/paper/2305.08962/) (2023)
- [ColibriUAV: An Ultra-Fast, Energy-Efficient Neuromorphic Edge Processing UAV-Platform with Event-Based and Frame-Based Cameras](https://mlsanity.com/paper/2305.18371/) (2023)
- [DH-PTAM: A Deep Hybrid Stereo Events-Frames Parallel Tracking And Mapping System](https://mlsanity.com/paper/2306.01891/) (2023)
- [Hardware, Algorithms, and Applications of the Neuromorphic Vision Sensor: a Review](https://mlsanity.com/paper/2504.08588/) (2025)
- [Event-based Sensor Fusion and Application on Odometry: A Survey](https://mlsanity.com/paper/2410.15480/) (2024)
- [Event6D: Event-based Novel Object 6D Pose Tracking](https://mlsanity.com/paper/2603.28045/) (2026)
- [On the Benefits of Visual Stabilization for Frame- and Event-based Perception](https://mlsanity.com/paper/2408.15602/) (2024)
- [Monocular Event-Inertial Odometry with Adaptive decay-based Time Surface and Polarity-aware Tracking](https://mlsanity.com/paper/2409.13971/) (2024)
- [AsynEIO: Asynchronous Monocular Event-Inertial Odometry Using Gaussian Process Regression](https://mlsanity.com/paper/2411.12175/) (2024)
- [EvtSlowTV -- A Large and Diverse Dataset for Event-Based Depth Estimation](https://mlsanity.com/paper/2511.02953/) (2025)
- [ANMS: Asynchronous Non-Maximum Suppression in Event Stream](https://mlsanity.com/paper/2303.10575/) (2023)
- [SuperEIO: Self-Supervised Event Feature Learning for Event Inertial Odometry](https://mlsanity.com/paper/2503.22963/) (2025)
- [Planar Velocity Estimation for Fast-Moving Mobile Robots Using Event-Based Optical Flow](https://mlsanity.com/paper/2505.11116/) (2025)
- [eKalibr-Inertial: Continuous-Time Spatiotemporal Calibration for Event-Based Visual-Inertial Systems](https://mlsanity.com/paper/2509.05923/) (2025)
- [RoEL: Robust Event-based 3D Line Reconstruction](https://mlsanity.com/paper/2602.18258/) (2026)

## Abstract (arXiv)

Event cameras that asynchronously output low-latency event streams provide great opportunities for state estimation under challenging situations. Despite event-based visual odometry having been extensively studied in recent years, most of them are based on monocular and few research on stereo event vision. In this paper, we present ESVIO, the first event-based stereo visual-inertial odometry, which leverages the complementary advantages of event streams, standard images and inertial measurements. Our proposed pipeline achieves temporal tracking and instantaneous matching between consecutive stereo event streams, thereby obtaining robust state estimation. In addition, the motion compensation method is designed to emphasize the edge of scenes by warping each event to reference moments with IMU and ESVIO back-end. We validate that both ESIO (purely event-based) and ESVIO (event with image-aided) have superior performance compared with other image-based and event-based baseline methods on public and self-collected datasets. Furthermore, we use our pipeline to perform onboard quadrotor flights under low-light environments. A real-world large-scale experiment is also conducted to demonstrate long-term effectiveness. We highlight that this work is a real-time, accurate system that is aimed at robust state estimation under challenging environments.