# A Monocular Event-Camera Motion Capture System

arXiv: https://arxiv.org/abs/2502.12113 · HTML: https://mlsanity.com/paper/2502.12113/

## Key facts

- Cited by 4 papers in the map (data through 14 Oct 2026).
- Builds on 11 of its 33 references that are in the map.
- First posted on arXiv 17 Feb 2025.

## Builds on (most cited first, 11 of 11)

- [How to Calibrate Your Event Camera](https://mlsanity.com/paper/2105.12362/) (2021)
- [The Double Sphere Camera Model](https://mlsanity.com/paper/1807.08957/) (2018)
- [Event-Based Angular Velocity Regression with Spiking Networks](https://mlsanity.com/paper/2003.02790/) (2020)
- [Agilicious: Open-Source and Open-Hardware Agile Quadrotor for Vision-Based Flight](https://mlsanity.com/paper/2307.06100/) (2023)
- [On the Role of the Action Space in Robot Manipulation Learning and Sim-to-Real Transfer](https://mlsanity.com/paper/2312.03673/) (2023)
- [A Neuromorphic Vision-Based Measurement for Robust Relative Localization in Future Space Exploration Missions](https://mlsanity.com/paper/2206.11541/) (2022)
- [Real-time 6-DoF Pose Estimation by an Event-based Camera using Active LED Markers](https://mlsanity.com/paper/2310.16618/) (2023)
- [Contextual Tuning of Model Predictive Control for Autonomous Racing](https://mlsanity.com/paper/2110.02710/) (2021)
- [Towards High-Speed Passive Visible Light Communication with Event Cameras and Digital Micro-Mirrors](https://mlsanity.com/paper/2410.14228/) (2024)
- [STag: A Stable Fiducial Marker System](https://mlsanity.com/paper/1707.06292/) (2017)
- [Event-Based high-speed low-latency fiducial marker tracking](https://mlsanity.com/paper/2110.05819/) (2021)

## Built on by (most cited first, 4 of 4)

- [Event-based Optical Marker Systems: A survey](https://mlsanity.com/paper/2504.20736/) (2025)
- [AsyncEvGS: Asynchronous Event-Assisted Gaussian Splatting for Handheld Motion-Blurred Scenes](https://mlsanity.com/paper/2605.07192/) (2026)
- [A Height-Constrained 2-Point Minimal Solver for Pose Estimation from Active LED Markers with Event Cameras](https://mlsanity.com/paper/2608.09520/) (2026)
- [Asynchronous Tracking, Optical Communication and 3D Motion Capture using Event-based Sensors](https://mlsanity.com/paper/2610.04342/) (2026)

## Abstract (arXiv)

Motion capture systems are a widespread tool in research to record ground-truth poses of objects. Commercial systems use reflective markers attached to the object and then triangulate pose of the object from multiple camera views. Consequently, the object must be visible to multiple cameras which makes such multi-view motion capture systems unsuited for deployments in narrow, confined spaces (e.g. ballast tanks of ships). In this technical report we describe a monocular event-camera motion capture system which overcomes this limitation and is ideally suited for narrow spaces. Instead of passive markers it relies on active, blinking LED markers such that each marker can be uniquely identified from the blinking frequency. The markers are placed at known locations on the tracking object. We then solve the PnP (perspective-n-points) problem to obtain the position and orientation of the object. The developed system has millimeter accuracy, millisecond latency and we demonstrate that its state estimate can be used to fly a small, agile quadrotor.