# Line-based 6-DoF Object Pose Estimation and Tracking With an Event Camera

arXiv: https://arxiv.org/abs/2408.03225 · HTML: https://mlsanity.com/paper/2408.03225/

## Key facts

- Cited by 29 papers in the map (data through 14 Oct 2026).
- Builds on 14 of its 57 references that are in the map.
- First posted on arXiv 6 Aug 2024.

## Builds on (most cited first, 14 of 14)

- [Event-based Vision: A Survey](https://mlsanity.com/paper/1904.08405/) (2019)
- [Ultimate SLAM? Combining Events, Images, and IMU for Robust Visual SLAM in HDR and High Speed Scenarios](https://mlsanity.com/paper/1709.06310/) (2017)
- [LatentFusion: End-to-End Differentiable Reconstruction and Rendering for Unseen Object Pose Estimation](https://mlsanity.com/paper/1912.00416/) (2019)
- [ROCA: Robust CAD Model Retrieval and Alignment from a Single Image](https://mlsanity.com/paper/2112.01988/) (2021)
- [EventCap: Monocular 3D Capture of High-Speed Human Motions using an Event Camera](https://mlsanity.com/paper/1908.11505/) (2019)
- [Mask2CAD: 3D Shape Prediction by Learning to Segment and Retrieve](https://mlsanity.com/paper/2007.13034/) (2020)
- [Templates for 3D Object Pose Estimation Revisited: Generalization to New Objects and Robustness to Occlusions](https://mlsanity.com/paper/2203.17234/) (2022)
- [IDOL: A Framework for IMU-DVS Odometry using Lines](https://mlsanity.com/paper/2008.05749/) (2020)
- [1000x Faster Camera and Machine Vision with Ordinary Devices](https://mlsanity.com/paper/2201.09302/) (2022)
- [A Region-based Gauss-Newton Approach to Real-Time Monocular Multiple Object Tracking](https://mlsanity.com/paper/1807.02087/) (2018)
- [Towards Bridging the Space Domain Gap for Satellite Pose Estimation using Event Sensing](https://mlsanity.com/paper/2209.11945/) (2022)
- [The Alignment of the Spheres: Globally-Optimal Spherical Mixture Alignment for Camera Pose Estimation](https://mlsanity.com/paper/1812.01232/) (2018)
- [Globally-Optimal Inlier Set Maximisation for Simultaneous Camera Pose and Feature Correspondence](https://mlsanity.com/paper/1709.09384/) (2017)
- [Continuous Event-Line Constraint for Closed-Form Velocity Initialization](https://mlsanity.com/paper/2109.04313/) (2021)

## Built on by (most cited first, 29 of 29)

- [Stereo Event-based, 6-DOF Pose Tracking for Uncooperative Spacecraft](https://mlsanity.com/paper/2503.12732/) (2025)
- [STAA-SNN: Spatial-Temporal Attention Aggregator for Spiking Neural Networks](https://mlsanity.com/paper/2503.02689/) (2025)
- [Differential Coding for Training-Free ANN-to-SNN Conversion](https://mlsanity.com/paper/2503.00301/) (2025)
- [Event-based multi-view photogrammetry for high-dynamic, high-velocity target measurement](https://mlsanity.com/paper/2506.00578/) (2025)
- [Hybrid Spiking Vision Transformer for Object Detection with Event Cameras](https://mlsanity.com/paper/2505.07715/) (2025)
- [MTevent: A Multi-Task Event Camera Dataset for 6D Pose Estimation and Moving Object Detection](https://mlsanity.com/paper/2505.11282/) (2025)
- [Dark-EvGS: Event Camera as an Eye for Radiance Field in the Dark](https://mlsanity.com/paper/2507.11931/) (2025)
- [SOTA: Spike-Navigated Optimal TrAnsport Saliency Region Detection in Composite-bias Videos](https://mlsanity.com/paper/2505.00394/) (2025)
- [Efficient ANN-SNN Conversion with Error Compensation Learning](https://mlsanity.com/paper/2506.01968/) (2025)
- [Ridge Estimation-Based Vision and Laser Ranging Fusion Localization Method for UAVs](https://mlsanity.com/paper/2512.16314/) (2025)
- [Accurate Pose Estimation for Flight Platforms based on Divergent Multi-Aperture Imaging System](https://mlsanity.com/paper/2502.19708/) (2025)
- [High-precision visual navigation device calibration method based on collimator](https://mlsanity.com/paper/2502.18012/) (2025)
- [Spiking Neural Networks with Temporal Attention-Guided Adaptive Fusion for imbalanced Multi-modal Learning](https://mlsanity.com/paper/2505.14535/) (2025)
- [Lattice-allocated Real-time Line Segment Feature Detection and Tracking Using Only an Event-based Camera](https://mlsanity.com/paper/2510.06829/) (2025)
- [Event6D: Event-based Novel Object 6D Pose Tracking](https://mlsanity.com/paper/2603.28045/) (2026)
- [SpikeDerain: Unveiling Clear Videos from Rainy Sequences Using Color Spike Streams](https://mlsanity.com/paper/2503.20315/) (2025)
- [Head-Tail-Aware KL Divergence in Knowledge Distillation for Spiking Neural Networks](https://mlsanity.com/paper/2504.20445/) (2025)
- [3D Trajectory Reconstruction of Moving Points Based on Asynchronous Cameras](https://mlsanity.com/paper/2506.00541/) (2025)
- [Event-based Motion & Appearance Fusion for 6D Object Pose Tracking](https://mlsanity.com/paper/2603.08264/) (2026)
- [Mixing Data-driven and Geometric Models for Satellite Docking Port State Estimation using an RGB or Event Camera](https://mlsanity.com/paper/2409.15581/) (2024)
- [Self-cross Feature based Spiking Neural Networks for Efficient Few-shot Learning](https://mlsanity.com/paper/2505.07921/) (2025)
- [Robust Visual Localization in Compute-Constrained Environments by Salient Edge Rendering and Weighted Hamming Similarity](https://mlsanity.com/paper/2509.25520/) (2025)
- [Event-based high temporal resolution measurement of shock wave motion field](https://mlsanity.com/paper/2512.22474/) (2025)
- [RoEL: Robust Event-based 3D Line Reconstruction](https://mlsanity.com/paper/2602.18258/) (2026)
- [Keypoint-based Dynamic Object 6-DoF Pose Tracking via Event Camera](https://mlsanity.com/paper/2604.23387/) (2026)
- [A Geometric Framework for Absolute Pose and Velocity Estimation with Event Cameras](https://mlsanity.com/paper/2606.09139/) (2026)
- [Efficient Minimal Solvers for Visual-Inertial Relative Pose Estimation in Multi-Camera Systems](https://mlsanity.com/paper/2606.09477/) (2026)
- [Learning Cross-View Semantic Priors for Single-Reference Unseen Object Pose Estimation](https://mlsanity.com/paper/2606.22076/) (2026)
- [Robust PnP on a Neuromorphic Processor for Object Pose Estimation](https://mlsanity.com/paper/2607.16834/) (2026)

## Abstract (arXiv)

Pose estimation and tracking of objects is a fundamental application in 3D vision. Event cameras possess remarkable attributes such as high dynamic range, low latency, and resilience against motion blur, which enables them to address challenging high dynamic range scenes or high-speed motion. These features make event cameras an ideal complement over standard cameras for object pose estimation. In this work, we propose a line-based robust pose estimation and tracking method for planar or non-planar objects using an event camera. Firstly, we extract object lines directly from events, then provide an initial pose using a globally-optimal Branch-and-Bound approach, where 2D-3D line correspondences are not known in advance. Subsequently, we utilize event-line matching to establish correspondences between 2D events and 3D models. Furthermore, object poses are refined and continuously tracked by minimizing event-line distances. Events are assigned different weights based on these distances, employing robust estimation algorithms. To evaluate the precision of the proposed methods in object pose estimation and tracking, we have devised and established an event-based moving object dataset. Compared against state-of-the-art methods, the robustness and accuracy of our methods have been validated both on synthetic experiments and the proposed dataset. The source code is available at https://github.com/Zibin6/LOPET.