# On the Benefits of Visual Stabilization for Frame- and Event-based Perception

arXiv: https://arxiv.org/abs/2408.15602 · HTML: https://mlsanity.com/paper/2408.15602/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 16 of its 51 references that are in the map.
- First posted on arXiv 28 Aug 2024.

## Builds on (most cited first, 16 of 16)

- [Event-based Vision: A Survey](https://mlsanity.com/paper/1904.08405/) (2019)
- [The Multi Vehicle Stereo Event Camera Dataset: An Event Camera Dataset for 3D Perception](https://mlsanity.com/paper/1801.10202/) (2018)
- [The Event-Camera Dataset and Simulator: Event-based Data for Pose Estimation, Visual Odometry, and SLAM](https://mlsanity.com/paper/1610.08336/) (2016)
- [A Unifying Contrast Maximization Framework for Event Cameras, with Applications to Motion, Depth, and Optical Flow Estimation](https://mlsanity.com/paper/1804.01306/) (2018)
- [Ultimate SLAM? Combining Events, Images, and IMU for Robust Visual SLAM in HDR and High Speed Scenarios](https://mlsanity.com/paper/1709.06310/) (2017)
- [Asynchronous, Photometric Feature Tracking using Events and Frames](https://mlsanity.com/paper/1807.09713/) (2018)
- [Secrets of Event-Based Optical Flow](https://mlsanity.com/paper/2207.10022/) (2022)
- [VECtor: A Versatile Event-Centric Benchmark for Multi-Sensor SLAM](https://mlsanity.com/paper/2207.01404/) (2022)
- [ESVIO: Event-based Stereo Visual Inertial Odometry](https://mlsanity.com/paper/2212.13184/) (2022)
- [DUT: Learning Video Stabilization by Simply Watching Unstable Videos](https://mlsanity.com/paper/2011.14574/) (2020)
- [Event-based Visual Inertial Velometer](https://mlsanity.com/paper/2311.18189/) (2023)
- [Real-Time Selfie Video Stabilization](https://mlsanity.com/paper/2009.02007/) (2020)
- [Tight Fusion of Events and Inertial Measurements for Direct Velocity Estimation](https://mlsanity.com/paper/2401.09296/) (2024)
- [Free as a Bird: Event-based Dynamic Sense-and-Avoid for Ornithopter Robot Flight](https://mlsanity.com/paper/2310.09875/) (2023)
- [Steadiface: Real-Time Face-Centric Stabilization on Mobile Phones](https://mlsanity.com/paper/1905.01382/) (2019)
- [Fast, Robust, Continuous Monocular Egomotion Computation](https://mlsanity.com/paper/1602.04886/) (2016)

## Built on by (most cited first, 1 of 1)

- [Artificial Microsaccade Compensation: Stable Vision for an Ornithopter](https://mlsanity.com/paper/2512.03995/) (2025)

## Abstract (arXiv)

Vision-based perception systems are typically exposed to large orientation changes in different robot applications. In such conditions, their performance might be compromised due to the inherent complexity of processing data captured under challenging motion. Integration of mechanical stabilizers to compensate for the camera rotation is not always possible due to the robot payload constraints. This paper presents a processing-based stabilization approach to compensate the camera's rotational motion both on events and on frames (i.e., images). Assuming that the camera's attitude is available, we evaluate the benefits of stabilization in two perception applications: feature tracking and estimating the translation component of the camera's ego-motion. The validation is performed using synthetic data and sequences from well-known event-based vision datasets. The experiments unveil that stabilization can improve feature tracking and camera ego-motion estimation accuracy in 27.37% and 34.82%, respectively. Concurrently, stabilization can reduce the processing time of computing the camera's linear velocity by at least 25%. Code is available at https://github.com/tub-rip/visual_stabilization